差速转向式双推无人艇航向与航速联合控制研究  

Heading and Speed Control of Double Push Unmanned Vehicle with Different Speed of Thrusters

作　　者：袁健 YUAN Jian(Institute of Oceanographic Instrumentation,Qilu University of Technology(Shandong Academy of Sciences),Shandong Provincial Key Laboratory of Ocean Environment Monitoring Technology,National Engineering and Technological Research Center of Marine Monitoring Equipment,Qingdao 266100,Shandong,China)

机构地区：[1]齐鲁工业大学(山东省科学院),海洋仪器仪表研究所,山东省海洋监测仪器装备技术重点实验室,国家海洋监测设备工程技术研究中心,山东青岛266100

出　　处：《汕头大学学报（自然科学版）》2022年第3期69-80,共12页Journal of Shantou University：Natural Science Edition

基　　金：山东省自然科学基金资助项目(ZR2012FL18)。

摘　　要：针对双推无人艇航速和航向联合控制问题,研究了MOOS-Ivp架构下基于PID控制的双电推无人艇航向与航速控制方法.首先研究了MOOS-Ivp架构下相应软件模块的功能和系统组成,并配置了保证控制系统正常运行所需的软件模块,提出了一种采用PID算法的航向和航速控制的闭环控制方法,设计了影响航向和航速PID控制精度的控制参数,进一步根据系统控制流程编写了闭环控制模块软件,并设计了下位机控制器和运动控制器的控制协议.最后通过岸边实验获取了该无人艇的速度和航向控制参数,并通过仿真和岸边实验验证了所提控制方法的有效性.According to the requirements of joint speed and heading control of double push unmanned vehicle,the heading and speed control method of double electric propulsion unmanned vehicle with Moos-Ivp software architecture based on fuzzy PID is studied.Firstly,the functions and system composition of corresponding software modules under Moos-Ivp architecture are studied,the software modules required to ensure the normal operation of the control system are configured,and the closed-loop control method of heading and speed control is proposed.Further,the closed-loop control module software is compiled according to the system control flow,and the control protocol of lower computer controller and motion controller is designed.Finally,the speed and heading control factor of the unmanned vehicle are obtained through the shore experiment,and the effectiveness of the proposed control method is verified by simulation and shore experiment.

关 键 词：双推无人艇 航向航速控制 MOOS-Ivp 模糊PID 

分 类 号：TP293[自动化与计算机技术—检测技术与自动化装置]