Study On Unmanned Surface Vehicle Modeling And Simulation Of Manipulation Movement

With the need of the development of international marine situation, the study of USV has been paid more and more attention by all countries in the world. Not only can the USV be used as an important tool for maintaining maritime rights and monitoring marine environment, but also be used to conducting specific tasks under the situation of unmanned control, which extremely makes it possible to get rid of the limit of man-working under extreme environmental condition. Therefore, it has very important practical significance and application value to conduct study of USV. Taking "LAN XIN" USV of Dalian Maritime University as the experiment object, the main research content in this paper is divided into the following sections:First of all, by analyzing the manipulation movement mechanism of USV in high speed, the six degrees of freedom motion equation in the craft appendage coordinate system is deducted according to the mass center movement theorem and the momentum theorem. By using the separated modeling idea of MMG, the surface stress of USV is divided into inertia type of fluid power, viscous fluid power, stern drive propeller power, wind interference force, wave interference force and so on. The corresponding mechanical model is established for each force, and finally this paper has completed the conduction of six degrees of freedom manipulation and movement mathematical model ofUSV.Secondly, the computer program which is used to controlling "LAN XIN" USV for turning test and Z test is designed and written, then the turning test and Z test of USV are conducted under the normal sea condition, by which large amounts of data reflecting the USV performance have been obtained. On this basis, by using the least squares algorithm, the parameters of response type model for "LAN XIN" USV are identified, and the feasibility and rationality of parameter identification results are verified through the simulation experiment.Lastly, by combining fuzzy control algorithm with traditional PID control algorithm, this paper designs a fuzzy PID heading controller of "LAN XIN" USV and presents the setting rules of adaptive fuzzy controller parameters, so as to realize online self-tuning of the controller parameters. In the case of wind flow interference, the simulation of conventional PID heading control and the fuzzy adaptive PID heading control are conducted respectively. And the results show that compared with traditional PID control algorithm, the proposed fuzzy adaptive PID control algorithm can provide better dynamic response performance for the heading control of USV, and has good robustness to parameter perturbation and external environment disturbance.