Research And Implementation Of Motion Control System For Surface Unmanned Vessel Driven By Two Propellers

With the development of continuous progress of science,people's demand for equipment is becoming more and more intelligent,autonomous and unmanned.As an unmanned surface platform,unmanned surface vessel has the characteristics of high intelligence,strong stealth and high maneuverability.The research of USV has attracted a lot of national and international scholars and become a hot topic.The motion control of USV is the precondition for unmanned surface vessel to accomplish complex tasks,and it is also the most important task in the research of unmanned surface vessel.This paper independently develops the motion control system of USV by Two Propellers.The overall structure of the system consists of control handle,upper software and on-board control center.The control handle has the function of changing the working mode and performance parameters of the USV,the working status,location information and current environmental information of the USV can be seen in the interface of the upper software.The control center on board can realize the functions of remote control,and autonomous cruise.In the aspect of communication,USV communicates through various means,including digital radio,4G communication and so on.The communication reliability and stability of the USV motion control system are ensured.It can effectively solve the problem that traditional USV is limited by communication distance.In navigation,differential GPS ensures the accuracy of longitude and latitude information,and high-precision sensors such as attitude sensor and millimeter wave radar are carried out.which lays a foundation for the realization of USV's motion control.The motion control system of double-propeller-driven USV is based on DSP28335 and ccs6.0 as software development platform.C language is used to receive and send sensor data,and the traditional PID control algorithm and the dual PID control algorithm of heading and steering angular speed are realized.The software and hardware structure,control flow and algorithm of the system are described in detail.In the simulation experiment,the course control method of the double-propeller drive USV is simulated by using the tool of MATLAB/Simulink.The results of azimuth PID,azimuth and steering speed PID control methods are compared and analyzed.Especially,the anti-jamming ability of the azimuth and steering speed PID control method is verified by simulation.The double-propeller-driven USV with this control system has been tested several times and the experimental results show that the azimuth and steering speed PID control system can meet the requirements of the motion control of the USV driven by double propellers.Finally,the advantages and disadvantages of the motion control system of the USV driven by double propellers are summarized.In addition,some improvements in future USV research are summarized.