Research And Practice On Automatic Cruise And Cross-Pond Transfer Control System Of River Crab Breeding Unmanned Boat

Under the background that the country vigorously advocates the mechanization,automation and intelligence of aquaculture,the river crab breeding unmanned boats,as a kind of efficient carriers for river crab feeding,are becoming a research hotspot.As it is difficult for the river crab breeding unmanned boats to transfer across the ponds,the unmanned boats are mainly used in the use of "one pond and one boat" scheme.If unmanned boats can be transferred in a simple way,the single-boat operation area will be expanded and the use cost of unmanned boats will be greatly reduced.Therefore,this paper designs a low-cost,safe and simple method for unmanned boats transferring across ponds,but the unmanned boats need to have high-precision automatic cruise capability when docking in the cross-pond transfer.At the same time,the precise breeding of river crabs requires unmanned boats to track the established path.The tracking accuracy of the path directly affects the operation quality.In order to ensure the operation quality and efficiency,the unmanned boats must also have high-precision automatic cruise capability.To solve the above problems,this paper designs a set of automatic cruise and cross-pond transfer control system for river crab breeding unmanned boats.The main research contents are as follows:(1)By investigating the current use and further demand of river crab breeding industry for unmanned boats,the hull structure and cross-pond transfer related structure of river crab breeding unmanned boats are designed.On this basis,combined with the current technical status,the control scheme and remote monitoring scheme of automatic cruise and cross-pond transfer system are designed.(2)Aiming at the problem of low automatic cruise accuracy of river crab breeding unmanned boat,the position and attitude detection,path tracking and heading control are studied,and the IMU/GNSS integrated navigation method and real-time dynamic insertion path tracking strategy based on UKF algorithm are designed.At the same time,in order to improve the dynamic tracking performance and anti-interference ability of unmanned boat in path tracking,a sliding mode variable structure heading controller based on fast power reaching law is designed,and the control effect is verified by simulation.(3)By analyzing the stress and power requirements of the river crab breeding unmanned crab in the process of cross-pond transfer,an electric drive system based on DC motor is designed.Aiming at the problem of unstable load torque of unmanned boat in the process of cross-pond transfer,a speed current double closed-loop cross-pond transfer control system based on Fuzzy PID is designed to improve the dynamic performance and adaptability of the system,and the control effect is verified by simulation.(4)The software and hardware platform of automatic cruise and cross-pond transfer control system of river crab breeding unmanned boat is built.The hardware part mainly includes integrated navigation module,open wheel motor drive module and boatboard main control module;The software part focuses on the design of dispatching management module,boatboard communication module,integrated navigation module,automatic cruise control module,crosspond transfer control module and remote monitoring system.Through a series of experiments,the feasibility of the automatic cruise and cross-pond transfer control system of river crab breeding unmanned boat designed in this paper is verified.The test results show that the tracking error of the unmanned boat to the straight line during automatic cruise is no more than 10 cm,which meets the requirements of cross-pond transfer docking and precise breeding,and the unmanned boat has good stability in the process of crosspond transfer and meets the requirements of cross-pond transfer.