Design And Simulation Of Unmanned Surface Vehicle Course Controller

Aiming at the course tracking control system of unmanned surface vehicle,the control scheme design and system simulation research are carried out in this paper.After the motion control strategy of unmanned surface vehicle is deeply analyzed,the following research is carried out based on the fractional order control theory.First of all,the coordinate system of unmanned surface vehicle motion is defined.Then,two mathematical models of unmanned surface vehicle plane motion,state space model and transfer function model are established according to the requirement of course controller design.And taking the disturbance of environment and the dynamic characteristics of steering servo system into consideration,the mathematical model of wind and wave disturbance force and the model of unmanned steering gear are given.Secondly,two schemes of course control for unmanned ship are proposed and designed in detail,which is based on the fractional order control theory.This paper mainly improves the basic particle swarm optimization algorithm,and proposes the self-tuning principle of controller parameters based on radial basis function neural network,which solves the problem of parameter tuning caused by the introduction of fractional calculus operator.In addition,kalman filter of unmanned surface vehicle steering system is designed in the second scheme,which avoids the adverse effect of environmental noise on ship maneuverability.Finally,the control schemes are simulated on Matlab/Simulink platform with an example of unmanned surface vehicle,and the results show that the proposed schemes are effective and feasible.Even under the disturbance of wind and wave,unmanned surface vehicle can track the desired reference course quickly and steadily,which shows that the controller designed in this paper has good adaptability and robustness.