Research And Application Of Course Control Algorithm For Unmanned Surface Vehicle

Compared with common ships,unmanned surface vehicle(USV)has the advantages of faster sailing speed,smaller size,higher intelligence and wider range of activity.It could carry equipment to carry out all kinds of tasks,thus a higher performance of control algorithm needs to be required.In this paper,the course control algorithm of USV is studied,which aims at the problem that existing the Ship Intelligent Handle and Control(SIHC)simulation platform fails to verify effectively for autonomous collision avoidance algorithm of USV,in line with development project of automatic collision avoidance model for USV undertook by our tutor.And the course control algorithm will be applied to the simulation verification of autonomous navigation collision avoidance algorithm for USV.It fulfills main research works is as follows:(1)Research has realized the variable universe fuzzy self-tuning PID course control algorithm for USV.Aiming at the original fuzzy self-tuning PID course control algorithm has poor control effect on USV,this paper researches the variable universe fuzzy self-tuning PID course control algorithm,and the genetic algorithm is used to determine the initial value of PID,because the method for determining the initial value of PID using the ship maneuverability index K and T is not suitable for small USV.(2)Optimization of course tracking performance evaluation algorithm.In view of the small inertia of the unmanned boat,the course tracking performance focuses on the response speed and accuracy,this paper based on the original weighted comprehensive evaluation method,the delay time of course tracking in its performance index is modified to reach the planned course time for the first time,and the dimensionless processing is carried out by the extreme method to improve the rationality of the criticism results.(3)Simulation and evaluation of course control algorithm for USV.Based on the mathematical model for USV by the team,the traditional PID course control algorithm,the fuzzy self-tuning PID course control algorithm,and the variable universe fuzzy self-tuning PID course control algorithm are simulated and analyzed by utilizing MATLAB,and combined with optimized weighted comprehensive evaluation method to analyze the course control performance of the three course control algorithms.The results show that variable universe fuzzy self-tuning PID control algorithm has better control effect for USV.(4)Application of course control algorithm to autonomous navigation collision avoidance and track control of USV on SIHC simulation platform.By utilizing Visual C++10 development tools to realize the programming of variable universe fuzzy self-tuning PID control algorithm for USV,and integrating into the SIHC simulation platform,which are used to test in USV under different environments.The results show that the control effect of USV is desirable under certain conditions(storm has the level of 4).