Modeling And Simulation Study Of Small Autonomous Sailboat With Wing-sail

With the increasing attention to marine resources,autonomous sailboat have been widely concerned in the field of marine monitoring.Small autonomous sailboat with wing-sail is a kind of autonomous sailboat commonly used in ocean monitoring field,and using motion model and control algorithm to realize path tracking is the premise of autonomous sailboat to complete the ocean monitoring task successfully.In this paper,the "Seagull" autonomous sailboat is taken as the research object,aiming at the modeling method with high accuracy and universal,and the path tracking method with good stability and wide applicability.Firstly,the composition structure,navigation principle and software and hardware platform of autonomous sailboat are introduced,the characteristics of soft sail and wing sail autonomous sailboat are discussed,and the advantages of small autonomous sailboat with wing-sail are analyzed.Basic data and preliminaries are provided for the subsequent motion modelling,model validation and path tracking guidance and control algorithms.Secondly,a four-degree-of-freedom autonomous sailboat motion model including wind,wave and current disturbance was established.Empirical formula and CFD method were used to calculate the parameters,and the simulation of wind,wave and current motion and experimental simulation were designed to verify the model.The results show that when tracking the 536 m long track of the sea test,the error of speed is 13.41%,and the error of left and right roll angle is within 10%.The motion model can reflect the speed and attitude of the entity,and can basically reproduce the test phenomenon,the method of parameter calculation and verification is suitable for the modeling of autonomous sailboat with different dimensions.Finally,an improved ILOS-FPID path tracking method is designed.Based on the traditional LOS guidance method,integrating link with sliding time window and decision rules of looking forward distance are added.Based on the traditional PID course control,fuzzy control,proportional amplification and integral separation are added.In addition,with the help of speed forecasting program,sail control strategy is developed to complete the speed control.The simulation experiments of guidance method,course control and path tracking are carried out respectively to verify the effectiveness of the algorithm.The results show that the improved ILOS-FPID controller has faster response and stronger stability than the traditional LOS-PID controller,and is suitable for the path point tracking scene with different intensity.In this paper,the motion modeling and path tracking control algorithm of autonomous sailboat are studied,which has certain theoretical significance and practical application value,and can provide certain technical support for the marine monitoring task of autonomous sailboat.