基于GPS导航的智能测绘船控制策略  

Control strategy of intelligent tracking ships based on GPS

作　　者：贾贵玺[1] 温世运[1] 冯建奎[1] 宋家泰[1] 贺丹丹[1] 

机构地区：[1]天津大学电气与自动化工程学院,天津300072

出　　处：《中国科学技术大学学报》2012年第6期462-466,共5页JUSTC

基　　金：国家海洋专项(GHME2010ZC09)资助

摘　　要：介绍了一种新型的水底地貌智能测绘船的硬件系统组成,将改进的PID算法应用在基于GPS导航的智能测绘船控制系统中.采用位置式PD-PID双模控制算法控制测绘船的航向,同时对船速采用PID和Bang-Bang控制算法相结合的控制策略,通过工程整定法确定PID参数及阈值,利用航向控制和速度控制的配合,使测绘船自动完成预定的测量工作.试验结果证明了控制策略的可行性.A new type of underwater-landform GPS intelligent tracking ship was introduced, and the improved PID algorithm was applied in the intelligent tracking ship control system which is based on GPS navigation. Positional PD-PID dual-mode control algorithm was used to control the direction of the ship, while the combination of PID and Bang-Bang control algorithm was adopted to control the speed of the ship. The value of PID parameters and thresholds was determined by engineering tests. The scheduled measurement could be completed automatically by the tracking ship through the proper combination of direction control and speed control. The experiment results show the feasibility of the control strategy.

关 键 词：GPS 智能控制 PD-PID 测绘船 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]