吊舱推进的小型水面无人船航迹控制系统设计

Development of Tracking Control System for the Pod Propulsion Small Surface USV

为解决适应内河通航环境的小型水面无人船(USV)航迹控制的快速性和鲁棒性问题,以小型水面无人船为研究对象,设计一种基于吊舱推进的USV航迹控制系统,该航迹控制系统由航迹控制器、航向控制器、转向操作机构、电罗经、D-GPS,以及角度检测传感器组成。其中航迹控制采用改进的LOS(Line of Sight)导航算法;航向控制器由两级模糊控制器构成,可同时满足大角度转向控制和小角度航向保持的性能要求。仿真和实船试验结果皆表明,该控制系统能够满足内河复杂通航条件下USV对航迹控制的要求。

To solve the problems of speed and robustness of track control for small unmanned surface vehicle（ USV） in the inland water navigation environment,a USV track control system was designed based on the pod propulsion,which was compose of track controller,course controller,steering mechanism,electronic compass,D-GPS and rudder angle measuring instrument.The improved LOS（ Line of Sight） navigation algorithm was used by the track controller. The heading controller included two fuzzy controllers,which can meet the requirements of large-angle steering control and small-angle course keeping. The simulation results of real ship sailing experiments showed that this control system can meet USV＇s requirement of track control under complex conditions of inland navigation.