梳草船导航控制系统设计与试验  

Design and test on the navigation control system of the aquatic plants combcollect boat

作　　者：李志坚 朱皓 吴刚 陈雷雷[1] 陈耀坤 LI Zhijian;ZHU Hao;WU Gang;CHEN Leilei;CHEN Yaokun(College of Science and Technology,Shanghai Ocean University,Shanghai 201306,China;Changzhou Huaxi Fisheries Co.,Ltd,Changzhou 213311,Jiangsu,China;Shanghai Haidan Biotechnology Co.,Ltd,Shanghai 201306,China)

机构地区：[1]上海海洋大学工程学院,上海201306 [2]常州华溪渔业有限公司,江苏常州213311 [3]上海海丹生物科技有限公司,上海201306

出　　处：《上海海洋大学学报》2023年第5期932-942,共11页Journal of Shanghai Ocean University

基　　金：上海市科技兴农技术创新项目(2022-02-08-00-12-F01096);上海市水产动物良种创制与绿色养殖协同创新中心项目(2021科技02-12)。

摘　　要：梳草船已逐步成为河蟹养殖池塘水草管理的重要装备,为实现梳草船运行的自动化,设计开发了一款以风机作为驱动装置的梳草船导航控制系统。针对梳草船设计了一套软硬件控制系统,建立了梳草船运动模型并进行了试验验证,采用航向预估PID控制方法和LOS视圆法实现了梳草船的运动控制与路径跟踪,在实际养殖场进行了航速测试,路径跟踪和水草收割试验。结果表明,在所设计的导航系统控制下,梳草船的最大运行速度可达1.14 m/s,PID航向控制方法和LOS视圆法可以准确实现梳草船的路径点跟踪,在天气条件良好的情况下,路径跟踪的平均误差小于0.96 m,与人工方式相比,单位时间内水草清理质量提高94.3%,有效降低了水草收割的劳动强度,提高蟹塘水草管理自动化水平。The aquatic plants comb-collect boat has gradually become an important equipment for the management of aquatic plants in river crab breeding ponds.In order to realize the automation of the aquatic plants comb-collect boat,an automatic navigation control system for the boat with a fan as the driving device was designed and developed.Firstly,a set of the aquatic plants comb-collect boat software and hardware control system was designed;Then,the dynamic model of the aquatic plants comb-collect boat was established and verified by experiments;Then,the motion control and path tracking of the aquatic plants comb-collect boat were realized by using the heading estimation PID control method and the LOS circle of sight method;Finally,the speed test,path tracking and waterweed harvesting experiments were carried out in the farm.The results show that the maximum speed of the aquatic plants comb-collect boat can reach 1.14m/s,the PID heading control method and the LOS circle of sight method can accurately realize the path point tracking of the aquatic plants comb-collect boat.In good weather conditions,the average error of path tracking is less than 0.96 m.compared with the manual method,the cleaning weight per unit time is increased by 94.3%,which effectively reduces the labor intensity of harvesting aquatic plants and improves the automation level of aquatic plant management in crab ponds.

关 键 词：梳草船 水草管理 风力驱动 路径跟踪 视线法制导 

分 类 号：S969[农业科学—水产养殖]