Design And Implement Of A Small Modeling Of Unmanned Surface Vehicle Control System

A small modeling of unmanned surface vehicle is designed as a controlled autonomous navigation models,according to the unmanned surface vehicle.The design and control of the unmanned surface vehicle is an important research direction on marine spatial intelligence unmanned launch vehicle in recent years. The unmanned surface vessel has an irreplaceable role in the contemporary war, water resource exploration and other marine areas. Its feature of fast and flexible can finish a lot of tasks which can not be completed by humans or which is extremely dangerous.The small modeling of unmanned surface vehicle is designed based on the research of unmanned surface vehicle, with the aim to achieve simulation such as unmanned surface vehicle performance and sports characteristics in a laboratory environment in the form of a lower cost and higher confidence.The entire control system about the small modeling of unmanned surface vehicle contains of the laboratory artificial pond, a camera for detecting the position of ship modeling,a small modeling of unmanned surface vehicle and PC control software. we can achieve real-time detection to the position and heading of the ship modeling by the camera just above the pool and a object recognition algorithm, through identifying two LED white lights on top of the small modeling of unmanned surface vehicle.The camera internal and external parameters calibration method and bilinear interpolation method is introduced in the chapter of the localization algorithm based on vision,respectively comparison of two algorithms. Finally selected the bilinear interpolation algorithm,realized the real-time detection of small model of unmanned surface vehicle's position and heading information through the camera gather the information of the two LED white lights on the small model.After complete building up the entire modeling experiment system,the research of parameter identification has been studied with this system. Based on the principles of feasibility and refer to relevant material , achieved the goal of identifying parameter K, T through the rotation test and stability test. According to the relevant data from the experimental results, using the difference equation and the relevant formula, get the model rotation performance K and stable performance T.In the essay, the line of sight method is used for get the desired angle and improve the LOS way by adopting the idea of S surface function .Finally design respectively based on vision method of PID controller and the sliding mode controller as the path tracking control algorithm.Using the control system of a model of unmanned surface vehicle to do the control experiment of path tracking, the essay gives experiment preparation, experiment steps,problems encountered in the process of the experiment, and gives the experimental results.