Modeling And Motion Control System Design Of Unmanned Surface Vehicle

Unmanned Surface Vehicle(USV) motion control system is an under-actuated and unstable nonlinear system. Currently, the research about autonomous trajectory tracking control of USV is still a great challenge at home and abroad. USV has unique characteristics,such as high mobility, small size, high performance of concealment and so on, which make it have wide application potential in both military and civil fields. Therefore, designing and developing an autonomous trajectory tracking control system of USV has great theoretical significance and practical value.Although at present there are a lot of researches about modeling and motion control on USV, most of them stay in the theoretical stage. This dissertation conducts research and design on the motion mathematical model and the motion control system of USV through the combination of theoretical analysis and model simulation. At the same time, we design the software and hardware platform to realize the autonomous trajectory tracking. According to the design requirements of the controller system, this dissertation is divided into four parts,namely model building, controller designing and simulating, platform building and the designing of hardware and software, the realization of autonomous trajectory tracking. Firstly,on the basis of previous research works, establish the three-degree mathematical model of the USV by the method of ship mechanism modeling, and use parameter identification method to test the accuracy of the model. Furthermore, design the PID controller, the robust PID controller and the robust PID sliding mode controller respectively based on the mathematical model of the USV. Using the Matlab environment to simulate the control effects of different controllers.And designing software and hardware system of the USV independently based on the existing software and hardware platform in the laboratory. Finally, designing the experiment about point-to-point autonomous trajectory tracking and and the linear autonomous trajectory tracking in order to test the feasibility of the robust PID controller in the autonomous trajectory tracking of the USV.The research of this dissertation mainly focuses on establishing the autonomous trajectory tracking control system and the realization of the basic autonomous track tracking.It provides a foundation for the further application of the autonomous obstacle avoidance and the platform application of USV.