Research On Design And Simulation Of Unmanned Surface Vessel Motion Control System

As a highly intelligent surface robot,unmanned surface vessel is widely used in scientific research,military and other fields.In the complex sea environment,how to effectively control the motion of the unmanned surface vessel has become a research hotspot.In this paper,aiming at the motion control problem of unmanned surface vessel,the following research work has been completed:1.Firstly,the motion coordinate system of the unmanned surface vessel is established.Then,the manipulating model of the unmanned surface vessel in course changing is deduced.After that,the basic principle of the control algorithm needed to establish the course controller of the unmanned surface vessel is given.2.Based on the improved auto disturbance rejection control technology,the course controller of unmanned surface vessel is designed.Using tracking differentiator to track desired course signal.Estimation and compensation of disturbance signal in course control system by using linear extended state observer.Then based on the output signal of tracking differentiator and the linear extended state observer,using the sliding mode variable structure control algorithm to derive the control law of the course controller of the unmanned surface vessel.3.The steering mode of rudderless twin propeller structure unmanned surface vessel is studied,and the simulation experiment is designed for its steering mode.Firstly,the mathematical model of the propeller which drives the motion of this kind of unmanned surface vessel is established.Then,the motion equation of the propeller in the normal motion of the unmanned surface vessel is given.Then,the steering mode of the ship with rudder and that of the ship without rudder are transformed equivalently,the equivalent rudder model of two propellers is derived when this kind of unmanned surface vessel turns.Based on the derived equivalent rudder model of two propellers,the simulation experiment of the equivalent rudder model is designed.There are three steps in the simulation experiment:first,the linear motion of an unmanned surface vessel is used to obtain the equivalent rudder model.Then,the square difference of the speed of the two propellers of the unmanned surface vessel under the specific steering command is obtained by the proportional differential operation.Then the specific speed of the two propellers is calculated based on the speed regulation strategy of the two propellers,the specific speed of two propellers is input into the equivalent rudder model to get the actual equivalent rudder efficiency of the unmanned surface vessel.4.Finally,the simulation experiment of the course controller and the steering control mode of the rudderless double propeller structure unmanned surface vessel is carried out on the MATLAB/Simulink simulation platform,the simulation experiment results show that the effectiveness of the proposed motion control strategy of unmanned surface vessel.