The Design And Application Of Motion Controller For Unmanned Surface Vessel

Unmanned Surface Vessel is a kind of water surface carrier device which can move independently under unmanned operation.At present,Unmanned Surface Vessel has been widely used in military and civil fields.Ship motion control generally includes course keeping,track tracking,navigation planning and so on.In order to realize the motion control of this autonomous vehicle and the strategy of autonomous navigation or navigation,the study on the current control of Unmanned Surface Vessel has become a research focus in the intelligent control of ship.The research uses the electric propulsion of a small surface ship with twin hull and twin propeller.The engine is composed of two propellers arranged in the left and right hull.The hull produces a turning torque under the different thrust of the propeller.It has good maneuverability and maneuverability.The central processing unit(CPU)is composed of the embedded ARM Cortex-M3 STM32F103 chip and its peripheral devices support the on chip system.The MPU6050 inertial measurement sensor provides the original data for the ship body attitude monitoring and motion control,and the motor speed regulation module uses PWM signal to trigger MOSFE.The H-Bridge driver model convert the control signal to the motor drive power.The 2.4G wireless communication module is used to interact the host computer with the ship's carried facilities for data exchange.The ship's motion attitude,positioning and working state is real-time monitored by the host computer control software.According to the monitoring data,The motion control algorithm could be realized by the host computer control software and the control instructions and parameters are periodic sent back to the experimental ship.The USV Motion Control system includes motor speed control,course keeping and steering control,ship motion attitude monitoring,remote data communication and so on.It can be applied to the experiments of hydrodynamic modeling,motion control,autonomous navigation and trajectory optimization of small Unmanned Surface Vessel.The performance of ship motion stability and mobility are obtained by real ship maneuver testing.Trough a sampling experiment,the model data of the input and output of the small USV are obtained.The ARX time series modeling method could be used to identify the hydrodynamics parameters of the small USV.The mathematical model that meets the research requirements is suitable for the simulation study of ship control.The experimental ship has the characteristics of simple and stable structure,lightweight,long endurance,flexible control mode and so on.At the same time,it can realize the interface expand of measurement modules,so as to suit for the various and advanced control strategy research in many aspects.