滩涂贝类采捕机路径跟踪控制仿真分析  

Simulation study on path tracking control of tidal flat shellfish harvester

作　　者：王玉瑞 张国琛 张寒冰 李秀辰 张倩 李航企[1] 刘法伟 陈鸿宇 母刚 WANG Yurui;ZHANG Guochen;ZHANG Hanbing;LI Xiuchen;ZHANG Qian;LI Hangqi;LIU Fawei;CHEN Hongyu;MU Gang(College of Mechanical and Power Engineering,Dalian Ocean University,Dalian 116023,Liaoning,China;Marine Fishery Equipment Professional Technology Innovation Center of Liaoning Province,Dalian 116023,Liaoning,China;Key Laboratory of Environment Controlled Aquaculture,Ministry of Education,Dalian 116023,Liaoning,China)

机构地区：[1]大连海洋大学机械与动力工程学院,辽宁大连116023 [2]辽宁省海洋渔业装备专业技术创新中心,辽宁大连116023 [3]设施渔业教育部重点实验室,辽宁大连116023

出　　处：《渔业现代化》2023年第4期41-50,共10页Fishery Modernization

基　　金：国家重点研发计划项目(2019YFD0900701);辽宁省促进海洋经济发展项目;辽宁省教育厅科研项目(LJKFZ20220241);辽宁省大连市科技创新基金(2021JJ12SN33);大连市揭榜挂帅项目(2021JB11SN035)。

摘　　要：为实现滩涂贝类采捕机的路径跟踪控制,设计了一种可按照预设采捕路线进行路径跟踪的控制系统。以履带式滩涂贝类采捕机为研究对象,在高斯平面坐标系建立了采捕机转向运动学模型,设计了一套带修正因子的模糊控制系统,在实际滩涂作业环境进行了控制参数标定试验,并在Matlab/Simulink中搭建了仿真控制模型,对常规模糊控制和带修正因子的模糊控制进行对比分析。仿真结果显示:当采捕机作业速度为0.02 m/s和0.03 m/s时,带修正因子的模糊控制较常规模糊控制系统导航精度分别提升了2/3和1/3,控制时间分别缩短44.44%和35.71%,证明了该系统具有较好的路径跟踪控制效果,为滩涂贝类采捕机路径跟踪提供了技术参考。To realize the path tracking control of a tidal flat shellfish harvester,a control system was designed,which can follow the prearranged collecting route.In this paper,the crawler-type tidal flat shellfish harvester was taken as the research object.The steering kinematics model of the crawler-type shellfish harvester was established in the Gauss plane coordinate system.A fuzzy control system with a correction factor was designed,the control parameter calibration experiment was carried out in the actual tidal flat environment,the simulation control model was built by Matlab/Simulink,and the comparison between the conventional fuzzy control and the fuzzy control with correction factor were analyzed.The simulation results showed that the navigation precision of the fuzzy control system with correction factor is improved by 2/3 and 1/3,and the control time is shortened by 44.44% and 35.71%,respectively,compared with the conventional fuzzy control system when the working speed of the harvester is 0.02 m/s and 0.03 m/s.It proved that the algorithm has a good effect on path tracking control and provides a technical reference for path tracking of tidal flat shellfish harvester.

关 键 词：滩涂贝类采捕机 修正因子 模糊控制 MATLAB仿真 路径跟踪 导航精度 

分 类 号：S969.11[农业科学—水产养殖]