Unmanned Surface Vessel Motion Control Simulation And Visualization Design

In recent years,with the strengthening of waterway transport activities,inland waterway and production activities are more busy,the state of the ship energy saving and emission reduction is also increasing attention.Unmanned Surface Vessel(USV)can be used as an effective means for marine survey and traffic regulation because of their low cost,high efficiency,clean environmental protection and bad weather conditions can replace people for dangerous activities.How to control USV smooth and safe navigation according to demand,is the focus of USV research.Due to the limited space of the USV testing environment,it is still difficult to carry out a large number of control experiments despite the small size of the larger ships.In summary,in the early unattended control algorithm research,visual simulation experiment is particularly important.Based on the analysis of the current situation of domestic and foreign research,this paper combined with the Wuhan University of Technology Intelligent Transportation Center laboratory USV for “Passive Track Tracking Simulation System Based on MPC” design.It mainly includes the following research contents:(1)USV course,track model established.According to the different functional requirements,the kinetic model suitable for USV is selected,and the parameters related to the modeling of USV are obtained by the parameter identification method.(2)Design and Simulation of Model Predictive Control(MPC)Algorithm Controller Based on State Space.According to the model design route,the track controller,the control variable method is used to analyze the controller performance and parameters,and the optimal control parameters are obtained for the heading and track tracking control.(3)Virtual reality environment modeling.Using Creator and Vega Prime software for the construction of USV hull model and the marine environment,and finally designed a dual channel view.(4)Design of Visual Simulation System.Using VS2005 software to design the interface part of MPC-based unmanned navigation route simulation system,Matlab is responsible for the function of writing controller algorithm.Vega Prime prepared by the three-dimensional video file from the algorithm to calculate the results obtained into three-dimensional image display,to achieve a two-dimensional numerical simulation and three-dimensional visual simulation of the combination.(5)Actual ship experiment.According to the simulation parameters,the parameters of the MPC algorithm are compared with the PID algorithm,which can provide theoretical and practical support for the future improvement of the algorithm.The results show that the MPC algorithm based on state space can control the motion of USV,and has the characteristics of fast convergence.The simulation system is based on the research and improvement of MPC control algorithm or other algorithms.The verification environment is provided for proper control of transplanting appropriate control algorithms onto large USV.