Research On Motion Control System Architecture And Tracking Control Of Unmanned Surface Vehicle

With the improving of significance for the ocean strategic, more and more countries pay close attention to the development of ocean vehicle. Combining with the functions of intelligent control, remote communication, detection and excluding sea obstacles, unmanned surface vehicle has become a indispensable member of surface naval vessels. Research on motion control system and trajectory tracking control theory have the high practical significance and value in use, which can ensure the accuracy and agility of attacking for unmanned surface vehicle.First, the mathematical model under three degrees of freedom is built.By the simulation for the model we verified the feasibility of this way. Meanwhile, we introduce the working principle of hydraulic propeller and the characteristic of propeller is analyzed.The paper studied the structure of motion control system for an unmanned surface vehicle. Based on analysis of several kinds of typical architecture and introduction of structure for unmanned surface vehicle motion control system,a hierarchical control structure for motion control system is designed first. Then, on the basis of managerial architecture, we designed a type of hybrid architecture for the system. Meanwhile, the two types of architecture are analyzed.The Lyapunov stability theory and related theorems are introduced briefly before we design the trajectory tracking controller. The unmanned surface vehicles are under-actuated systems that the control systems must be stabilized and robust. Sliding mode control is a good choice for the USV control system. To make sure the astringency of the position tracking error,we design the virtual controller for kinematics loop, where the surge velocity and lateral velocity are virtual inputs. Then the controller for dynamics loop is designed, so that the actual velocity of USV can track virtual inputs. Dynamics loop for USV includes of two parts:surge sliding mode control law and lateral motion sliding mode control law. Finally, we analyse the stability of the controller and make simulation by using the Matlab. Through the simulation we verified that the design of sliding mode controller meets the requirements of the target.