水产养殖自动导航无人明轮船航向的多模自适应控制  

Multi model adaptive control of paddlewheel vehicle's course in aquaculture

作　　者：洪剑青[1,2] 赵德安[1] 孙月平[1] 张军[1] 罗吉[1] Hong Jianqing Zhao Dean Sun Yueping Zhang Jun Luo Ji(School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China Department of Mechanical Engineering, Zhenjiang College, Zhenjiang 212003, China)

机构地区：[1]江苏大学电气信息工程学院,镇江212013 [2]镇江市高等专科学校机械系,镇江212003

出　　处：《农业工程学报》2017年第1期95-101,共7页Transactions of the Chinese Society of Agricultural Engineering

基　　金：江苏省"十二五"农业支撑项目"水产生态健康设施养殖信息管理技术系统研发"(BE2013402);江苏高校优势学科建设工程项目(PAPD;No.6-2011);江苏省高校研究生科研创新计划项目(CXLX12_0661);镇江市重点研发(现代农业)计划项目"多功能全自动水产养殖作业船的研制与应用"(NY2015022)

摘　　要：为降低水产养殖行业劳动作业强度和人力成本,解决劳动力日益匮乏的问题、提高鱼塘投饵效率和投饵均匀度,对适用于水产养殖的水面作业艇-明轮船的航行控制进行研究。为克服明轮船运动过程中航速、航向强耦合,给出改进的明轮船控制系统方案,实现航向、航速之间的解耦,建立明轮船航向系统的动态响应数学模型。根据明轮船的工作特点,对明轮船进行多模自适应控制,用计算机软件进行仿真和实船试验,并与PD(proportion differentiation)控制进行比较。通过仿真和试验的结果,证明所设计的控制器能解除明轮船的耦合效应,船速超调量不超过5%,稳态误差在3%以内,直线航行时的航向误差在3?以内。数据表明多模自适应控制方法能够对明轮船航行进行较好的控制,效果优于PD控制。In order to improve production efficiency, reduce production cost, cope with the growing labor shortage, and improve the uniformity of feeding, the use of smart equipment is an inevitable trend. Due to the limitations of the industry property, the work of aquaculture industry is simple, tedious, and heavy. Using smart equipment substituted for human, it is the most suitable and competitive. In order to carry equipment on water surface and to move, it needs mobile operating platform. Paddlewheel vehicle is in line with the requirements. This paper studied the sailing control of paddlewheel vehicle. The paddlewheel vehicle could go on forward, which relied on both sides of the wheel propulsion device – paddlewheel. Due to the inherent characteristics of the paddlewheel vehicle structure, there was a strong coupling between the speed and the heading. It could cause speed fluctuations in the movement of the steering process. To achieve the designed speed and heading, both sides of the paddlewheel rotating speed will fluctuate dramatically. This situation reduced sailing stability of paddlewheel vehicle, wasted limited energy, shortened total route mileage, and influenced the operation of carrying device on the ship. To overcome this problem, the control system was analyzed and pointed out the defects, and then the improved paddlewheel vehicle control system was given, which had the advantage of decoupling effect between the heading and the speed of paddlewheel vehicle. The improved control system was important to make paddlewheel vehicle have better sailing stability. After that, according to the Fossen theory, the heading system dynamic response model was acquired from the hydrodynamic equations of paddlewheel vehicle. Next, on the base of analyzing work situations of paddlewheel vehicle, the paper proposed the method of multi-mode adaptive control. It treated the paddlewheel vehicle＇s sailing straight and steering movements with different methods. In order to improve the dynamic response effect and anti-jamming

关 键 词：水产养殖 自动控制 模型 明轮船 航向 自适应 多模 

分 类 号：S24[农业科学—农业电气化与自动化] TP273.21[农业科学—农业工程]