Research On Fuzzy Immune Control Technology For Unmanned Surface Vehicle

With the social economy rapid development, many of the world’s maritime power pay more and more attention to Marine resources. In order to strengthen the control of the sea,many countries are developing the unmanned surface vehicle at any costs. Unmanned surface vehicle is usually referred to as USV. In order to avoid casualties, we often need to use the USV to some dangerous waters to complete the task. When performing the task, the USV sometimes need to safely navigate along the scheduled guidance point. In order to make the USV better through these guidance points we need to control the position of the USV. In order to realize the position control ,we also need to control the USV Heading to make the USV turn to instruction course can rapidly and accurately. Therefore, the methods how to effectively solve the USV course control and position control problem have very important research value and practical significance. In order to solve the above problems, this paper designed a kind of intelligent course controller, and USV position control technology are put forward on the basis of intelligent course controller.Firstly, USV movement mathematical model was deduced in view of the course control problem of USV. In order to establish an appropriate mathematical model, the six degrees of freedom mathematical model was simplified to three degrees of freedom according to the characteristics of the USV motion control in this paper. And the linear response equation of movement of the USV was deduced on the basis of analysis of hydrodynamic thrust,propulsion and various disturbance force.Secondly, in order to solve the problem of USV in the course control of navigation, the USV heading fuzzy immune PID controller was designed on the basis of the fuzzy control algorithm、immune feedback algorithm and PID control algorithm in this paper . The heading of intelligent PID controller can adaptively adjust the three parameters of PID heading controller according to the state of the USV in order to realize the precise control of USV. In order to improve disadvantage of the fuzzy immune PID controller, the intelligent heading controller is optimized by adopting the idea of variable universe. And the intelligent PID heading controller is verified has good control effect by the simulation experiment.Finally, in the USV position control aspect, this paper puts forward the USV position control methods based on the course control, namely, achieves ultimate USV position control through guide link based on intelligent PID controller. The experimental results show that the proposed USV position control scheme has well-pleasing control effect.