无人艇运动控制仿真试验训练系统设计研究  

Design and research of simulation test training system for unmanned boat motion control

作　　者：刘峰[1] 许二旭 LIU Feng;XU Erxu(Navy 92941 Unit 43 of PLA,Huludao 125000;Unit 91976 of PLA,Guangzhou 510080,China)

机构地区：[1]中国人民解放军92941部队43分队,辽宁葫芦岛125000 [2]中国人民解放军91976部队,广东广州510080

出　　处：《指挥控制与仿真》2023年第6期112-120,共9页Command Control & Simulation

摘　　要：针对靶场无人装备仿真试验手段缺乏问题,在构建无人艇动力学模型和运动模型的基础上,基于CoppeliaSim仿真软件,设计了一套无人艇运动控制仿真试验训练系统,构建了PID、滑膜和模糊PID三种控制器,并采用Navmesh寻路算法实现无人艇仿真平台的路径规划。该系统弥补了靶场无人装备仿真试验的不足,解决了无人艇模拟训练手段缺乏的难题,可为无人装备数字化试验鉴定提供基础支撑。Aiming at the lack of simulation test means for unmanned equipment at the firing range,this paper designs a simulation test training system for unmanned vehicle motion control based on CoppeliaSim simulation software and on the basis of the construction of unmanned vehicle dynamics model and motion model,and constructs three controllers,PID,synovium and fuzzy PID.The Navmesh routing algorithm is selected to realize the path planning of the unmanned boat simulation platform.The system fills the gap in the simulation test of unmanned equipment at the firing range,solves the problem of the lack of simulation training means of unmanned boat,and can provide basic support for the digital test evaluation of unmanned equipment.

关 键 词：无人艇 运动控制 仿真系统 控制器 路径规划 

分 类 号：U664.82[交通运输工程—船舶及航道工程]