| In the 21 st century, many countries have seen the enormous potential of unmanned surface vehicle(USV) and carried out the research on USV consecutively. The vehicle-mounted sensors and equipment modules of singular USV platform are limited, for which it can only perform a few simple missions. When facing the complicated and diversified missions, multiple USVs′ cooperative operation can not only release restriction of singular USV platform in the functions, but also improve operation efficiency and enlarge operation scope, which has a good application foreground both in civil and military fields. Recently, China has made a breakthrough in hydrologic monitoring and meteorologic exploration by USV, while it is nearly blank in USV cooperation technology, cooperative operation strategy and cooperative system. This paper put forward a new type USV concept which contained anti-splash sheetbodies, and the new type USV′s maneuvering and its cooperative strategy were studied mainly based on model test and auxiliary theoretical analysis and program complication. The main research work and analysis can be summarized as follows:(1) The new type USV model was designed and fabricated. The propulsion system and maneuvering system are minute designed subsequently, which including the selection of appropriate engine, spindle, propeller, rudder blade and actuator. The intelligent control system framework of the new type USV was established. The upper computer system was use for observing position, attitude and environmental perception information of the new type USV on shore. In the lower computer system, programmable automatic controller(PAC) was the core controller. And various modern vehicle-mounted equipment, sensors and corresponding control programs were included. The intelligent control system could meet the test requirements after being tested repeatedly.(2) Self-propelled model tests of the new type USV were carried out, which mainly included inertia test, turning test and zig-zag test. All kinds of data collected from tests were analyzed comprehensively, which including the relationship between speed and control voltage; the effect of inertia time and inertia distances in various control voltages and various displacements; the effect of turning diameters in various speed and displacements; the effect of turning diameters in various control voltages and rudder angles; the effect of overshoot angles in various speed; the effect of overshoot time in various speed; the heading angles changing with time under various steerage angles; the dimensionless turning quality index and steering quality index changing with time. The principles of genetic algorithm and chaotic algorithm were elaborated respectively. The system identification process based on chaotic genetic algorithm was proposed. The new type USV maneuvering motion system identification program was compiled based on VB.NET. Then the turning test data were calculated and identified. The reliability of the program was verified after comparing the identified results with test data.(3) Multiple USVs cooperative operation strategies in four aspects were proposed, which including cooperative searching, cooperative path following, cooperative hydrologic and meteorologic monitoring, other diversified mission scenarios. Cooperative systems between USV cooperative system and other multiple unmanned platform were discussed. Advantages of the USV cooperative operation system were summarized. The autonomous sailing control program was compiled by VB.NET after putting forward the fuzzy control rules. Then the preliminary research on three cooperative operation tests were carried out. Finally, the new type USV shore terminal software(upper computer) was compiled by VB 6.0. The reliability of this upper computer system and lower computer system were verified as well as the feasibility of corresponding cooperative strategies. It could provide references for lucubrating multiple USVs′ cooperative operation strategies. |
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