Research On Navigation Controller Of USV

Unmanned surface vehicle (USV) has play a more and more important role in today’socean strategy pattern. combining with the functions of intelligent control， remotecommunication， detection and excluding sea obstacles its superiority is so prominentespecially in complex and high-risk operating environment. The most central part of the USVis the navigation controller system which performance and the degree of intelligence aredirectly related to the result that whether the USV can complete the task or not.In order todevelop the high performance navigation controller in the actual operating environment wedisscused the issues about its development and research.DSP technology, PLC technology, wireless communication technology and pwm controltechnology are used in the development of this USV’s navigation controller system. Thissystem is consisted of two parts:the onboard system and the PC monitoring system. Thedesign and development of the onboard system is based on DSP and PLC combined with thewireless communication module, speed acquisition module, gesture acquisition system andmotor drive system. The PC monitoring system includes host computer and wirelesscommunication module.Then controlling and monitoring the unmanned surface vehicle isdone.This article is mainly do following research in accordance with the needs of thenavigation controller.First,we build the system of USV’s navigation controller and its mathematical modelunder three degrees of freedom.By the simulation for the model we verificated the feasibilityof this way.Second,using the DSP microcontroller as the computing central we designed the powercircuit, JTAG Interface circuit，serial ports circuit, AD sampling circuit and the programsrelated. Use the PLC controller as the implementing central to design the RS485Interfacecircuit, Input and output modules, frequency-to-voltage module and the programs related. Wealso do many research about the selections of the drive control system, posture acquisitionsystem, speed detection system and the communications system.Again,we designed the PC monitoring interface based on supervisory control and dataacquisition software(SCADA).The communication between DSP and PLC was built with theMODBUS protocols.By testing the communication between them we verify the actualcommunication between all devices. Finally, by studying of fuzzy PID algorithm to develop rules for the controller, andhandling the output of the system in accordance with navigation controller fuzzy rules, fuzzyinference, and the output of the fuzzy inference processing through the anti-fuzzy we setfuzzy controller for the system.Then we bulit the semi-physical simulation platform for the system on a computer andlet the three degrees of freedom mathematical model run on the computer。Using thenavigation controller’s output as the input of the simulation model we compared the output ofthe navigation controller with the input of the simulation platform and then by adjusting thePID parameters to obtain the most suitable parameters for the system. Through thesemi-physical simulation we verified that the design of the navigation controller system meetsthe requirements of the overall design.