水面无人艇远程控制系统设计与实验  

Design and Experimental Research of Remote Control System for Water-Borne Unmanned Surface Vehicles

作　　者：王珺 俞万能[1,2,3] 李光泽 WANG Jun;YU Wanneng;LI Guangze(School of Marine Engineering,Jimei University,Xiamen 361021,China;Fujian Provincial Key Laboratory of Naval Architecture and Ocean Engineering,Xiamen 361021,China;Fujian Offshore Small Green Intelligent Ship System Engineering Research Center,Xiamen 361021,China)

机构地区：[1]集美大学轮机工程学院,福建厦门361021 [2]福建省船舶与海洋工程重点实验室,福建厦门361021 [3]福建省近海小型绿色智能船舶系统工程研究中心,福建厦门361021

出　　处：《集美大学学报（自然科学版）》2022年第6期515-523,共9页Journal of Jimei University：Natural Science

基　　金：国家自然科学基金项目(52171308);福建省科技厅重点项目(2021H0021)。

摘　　要：针对海上复杂环境对水面无人艇操纵性能的影响,在风、浪等环境因素干扰下研究基于模糊PID(proportional integral differential)的无人艇航向偏差控制,开发以DSP(digital signal processing)结合ARM为核心控制器的艇载运动控制系统,采用阿里云服务器、Web服务器、Apache服务器及MySQL数据库,研发无人艇远程控制系统,并集成研发了样船。实验表明,所研发的无人艇远程控制系统具有远程通信、运动控制、状态监测、数据存储和数据共享的功能,能够满足远程通信实时性、运动控制灵活性精确性的设计要求,进一步提高对无人艇航迹控制精度,为近海小型智能船舶的研发奠定基础。Corresponding to the influence of the complex environment at sea on the maneuvering performance of unmanned surface vehicle,the heading deviation control of unmanned surface vehicle based on fuzzy proportional integral differential(PID)is studied with the interference of wind,waves and other environmental factors,and an on-board motion control system combining DSP(digital signal processing)with ARM as the core controller is developed.The unmanned surface vehicle remote control system is developed by using Alibaba Cloud server,Web server,Apache server and MySQL database.Experiments show that the developed unmanned surface vehicle control system has the functions of remote communication,motion control,status monitoring,data storage and data sharing,which can meet the design requirements of real-time remote communication,motion control flexibility and accuracy.This can further improve the accuracy of the control of unmanned surface vehicle tracks,and lay the foundation for the research and development of intelligent coastal boats.

关 键 词：水面无人艇 船载运动控制器 远程控制 模糊PID控制器 

分 类 号：U664.82[交通运输工程—船舶及航道工程]