Study Of The Maneuverability And Intelligent Control For Unmanned Surface Vehicle

Unmanned Surface Vehicle (USV) is one of intelligent motion platforms, which can navigate safely in the real marine environment and complete various tasks. Compared to the manned naval ships, the USV has a lot of outstanding tactical and technical characteristics, for instance, small volume, stealthy, high-speed, mobile and flexible, no dangerous about casualties and so on. The USV will complete special missions in the non-symmetric three-dimensional warfare, such as mine sweeping, electronic warfare, ISR (Intelligence, Surveillance and Reconnaissance), anti-terror, precision strike and force protection. And the USV will be useful in bad sea condition investigation and prediction, such as, gale at sea, billow, tropic storm, sea fog and so on. Therefore USV will be highlighted for special attention more and more around the world in the future.In the high-dynamic and uncertain ocean environment, in order to obtain highly autonomy, the USV must be endued with agile maneuver performance and precise control performance to insure the security for other ships and self. At the viewpoint of enhance the USV adaptability, intelligence, and functionality, the artificial intelligence should be introduced to designing the USV intelligent control system.In this thesis, the research object is "XIANG-LONG" USV. Firstly, the motion mechanism of the high-speed planing craft was analyzed, combine the system identification method, the five freedoms manoeuvring motion model was established. Secondly, according to the learning theory of structural risk minimize rule, the Least Squares Support Vector Machines (LS-SVM) based on linear kernel is adopted in the regression of the small stylebook zigzag motion data of the USV trial. Using the step by step identification method, the parameters were identified of the USV response models including the first-order linear, the first-order nonlinear, the second-order linear and the second-order nonlinear models. And the second-order nonlinear response model possessing well generalization was validated. Thirdly, on the base of the manoeuvring motion model of the USV, the S pane control arithmetic was combined with design theory of model reference adaptive rule; According to the Liapunov theorem of stability, the S pane adaptive controller was designed for the USV based on the model reference. And this control arithmetic was validated to be anti-parameter-changing and anti-jamming. And then the excellences of the human-simulated intelligent control, such as:characteristic identification on line, logic consequence of heuristic instinct and multi-mode control, were combined with the harmony motion mechanism of the human cerebella; The human-simulated intelligent harmony control strategy was proposed based on the cerebella model; And the USV motion control strategy was designed based on the harmony action of engine, the nozzle and deflector of the water-jet-propulsion. Fourthly, according to the structure characteristic of the human motion control system, a human-simulated intelligent hybrid hierarchical structure was proposed. Using the learning evolution theory of the human-simulated intelligent schema, this structure would be perfected and improved, then a system structure, named hybrid human simulated intelligent schema, would be formed. Finally, diversified trials were done at sea for the USV, such as, head keeping, and course tracking. The reliability and engineering practicability of the designed control method and designed system structure were validate by the USV trials results.