Research On The Autonomous Cooperative Control Of A Flexible Joint Dual Unmanned Surface Vehicles

In 2016,China's dependence on foreign oil reached 65%,becoming the world's largest importer of crude oil.Unloading operations near the coast increases the probability of oil spill accident.The oil spill is usually treated with two manned ships,but the efficiency is very low,and the chemicals are harmful.Oil spill without treatment will also be harm to the sea lives.Using two unmanned craft carrying booms,which has a physical connection.Except cleaning up oil spills,water pollution,garbage removal,NBC in the harbor construction of floating dock can be done.Select two unmanned ships with flexible cable as the research object,putting forward cooperative control method,which can complete the oil spill recovery and other similar tasks.Firstly,the 3-DOF dynamic model is established,and the hydrodynamic force and moment of the flexible floating cable are introduced.Then,based on the B spline curve,the smooth navigation trajectory of a flexible connecting double unmanned aerial vehicle is designed.The control points on the spline curve are selected by genetic algorithm,which can satisfy the geometric constraints.After using the null space method,analysis of the specific behavior to complete the process of hunting oil spill,according to the cooperative motion sub task specific behavior design of two unmanned boats,and set the priority of the task will be the stator;sub tasks according to the priority order,to compute the expected behavior;expected behavior of unmanned control using the S control method,and the simulation results are analyzed.Last but not the least,approximate calculation of flexible floating cable is in the system of navigation water power and torque analysis system is affected by the drag torque streamer separation phenomenon appears,according to the fuzzy controller to adjust the zero space behavior strategy output expectations heading angle and air speed influence of streamer torque.Finally,the system can keep the consistency of the ship under the influence of the floating cable torque,and the floating cable torque can be maintained in a certain range because of the stability.