The Design And Implementation Of USV's Straight Line Path Following Controller

Unmanned Surface Vehicle(USV),as a kind of equipment that can be used for monitoring marine environment,safeguarding marine right and interests and modern military operations,has broad application prospects,so it has become one of the highlights in scientific research in the intelligent marine equipment at home and abroad.In the complex and changeable ocean environment,being able to trace the desired path accurately and rapidly by itself,is the premise of ensuring the USV's safe navigation and the designate task's successful accomplishment,is also one of the focuses of automatic motion control research in USV's intelligent control technology.So,in order to realize the SUV's control of tracing the desired path accurately and rapidly,we regarded the "Lanxin" US V of Dalian Maritime University as the research object,did the simulation research of direct trace tracking control and the design and verification work of the indirect trace tracking controller aim at its straight line path following problem.The main content can be divided into the following sections:Firstly,built the linear mathematic model and nonlinear mathematic model of the USV,identified the parameters of the model according to the experimental data from real ship testing results.Designed the fuzzy self-tuning PID heading controller on this basis.Gave out the fuzzy tuning rule and control parameters,realized the target of parameters' online self-tuning.Simulated the course tracking control under the circumstance of the wind,wave and flow's disturbance.The simulation results demonstrated that the fuzzy self-tuning PID heading controller has good adaptive ability.Secondly,combined the LOS guide algorithm with the fuzzy self-tuning PID in the research of indirect trace tracking control method,designed the USV straight line path following controller based on the LOS guide algorithm,the simulation results indicated its feasibility and effectiveness,so it can be used for designing the USV's straight line path following controller.In the research of direct trace tracking control method,utilized the Backstepping nonlinear control method,designed the USV direct trace tracking controller containing a steering engine model under the condition of considering the USV's rudder characteristics.The simulation results indicated that the controller had the advantages of high control precision and quick response,so it can be used in the research of "Lanxin" USV's direct trace tracking control.At last,applied the designed USV straight line path following controller based on LOS guide algorithm to the "Lanxin" USV's trace tracking control.Finally the real ship experimental results indicated the method's feasibility and the effectiveness in the realistic ocean environment,and it also had the advantages of easy parameters adjusting and high control precision.