双体槽道型双泵喷水推进无人艇航向控制算法研究

Research on Heading Control Algorithm of Double-body Channel Dual-pump Water Jet Propulsion USV

针对双体槽道型无人艇自主航行控制需求,分析无人艇航向控制操作流程,采用模糊数学理论,构建无人艇航向控制模糊集合,设计模糊规则和推理,进而实现不依赖于无人艇动力学模型的模糊PID航向控制算法,并将设计的算法应用于某型无人艇航控系统,进行实艇海上航行试验,从采集数据分析,模糊PID航向控制算法能够快速收敛至期望航向,能够在线自修订PID控制参数,具有较强的环境适应能力。

Aiming at the demand for autonomous navigation control of double-body channel USV,this paper analyzes the USV heading control operation process,adopts fuzzy mathematics theory,successfully constructs the USV heading control fuzzy set and further designed fuzzy rules and reasoning to realize the fuzzy PID heading control algorithm independent of the USV dynamic model.Later,the designed algorithm is applied to a certain type of USV navigation control system to carry out the real ship sea navigation test.From the collected data analysis,the fuzzy PID heading control algorithm can quickly converge to the desired heading,is capable of self-revision of PID control parameters online,and has strong environmental adaptability.