Research And Implementation Of Global Track Tracking Control For Underactuated Surface Survey Ship

Recent years unmanned survey vessels have gained popular applications in the fields of different water areas conditions measurements for its security,real-time performance,high efficiency operation convenience,etc.With the utilization of automatic control method,repeatedly measures in same water areas become timesaving and laborsaving.However,largely the precision of real trajectory tracking is limited by external inferences,scanty feedback precision,and problems about controlling means and their use,which causes that the surveying and mapping is inaccurate.Targeted at under-actuated water survey vessels,this paper emphasizes researches on global trajectory tracking control of survey vessels and industrial watercraft autopilots have been developed finally.The main work of the paper is as shown below:First,based on kinetics and kinematics,the operating principles of under-actuated water survey vessels are analyzed and further the model of water survey vessels is built.Disturbances from surroundings are taken into account,ambient interference is modelled,and then nonlinear mathematic model of survey vessel system under environment inference is established.Next,a new fusion algorithm is come up with in this paper for high-tolerance and hysteretic feedback data from sensors installed in common water survey vessels that results in terribly negative effects on expected control.That is combining the course data from triaxle magnetometers,gyroscopes and RTKs onboard,which not only ensures the updating speed of course data,but also improves the accuracy and anti-disturbance capacity of the control system.Then the course control strategy is devised under the instruction of robust adaptive control theory,while forward speed controller is exploited by integrating robust control and feedback linearization.Add in accurate navigation computing and a high-accuracy trajectory tracking controlling means is concluded and simulated.At last,underpinned by the strategies and control law discussed above,industrial dual-core watercraft autopilots are designed,who have managed to perform automatic measures in diverse water areas by water survey vessels and whose navigation accuracy is on the scale of sub-meter.Now they are put on the market successfully.