Control And Simulation For Intelligent High-speed Unmanned Surface Vehicle

Intelligent high-speed unmanned surface vehicle (USV), as a sophisticated system integration of ship-design, intelligent control, artificial intelligence, navigation and communication technology, is an unmanned platform to carry out various civil and military missions in complex ocean environment. The designing of USV include many items, such as automatic pilot, collision avoiding, path planning, navigation, pattern recognition and so on. And the motion control part is one of the most basic and most important modules in USV, in order to accomplish various missions, the USV must have the ability to automatic pilot along the path planned by the path planner.The main purpose of this thesis is to design a robust controller for the USV according to the characteristics of its high-speed navigation in wind, wave & current environment, and establish a visual simulator for the USV in order to validate the feasibility of this controller. This thesis includes three parts.In the first part, the maneuverability of USV was analyzed. At first, this paper established a six-degree of freedom maneuvering motion equation of the USV; And then the dynamic model of water-jet-propulsion and interference of wind, wave & current were established. So the dynamic model of USV in wind, wave & current environment was established by integrating all the dynamic models. Based on the combined model, some digital dynamic simulations of USV were done, including turning trajectory simulations, zigzag maneuvering simulations, high-speed sailing simulations and turning trajectory simulations in the environment of wind, wave & current. And then it is concluded that the dynamic model was feasible by comparing the simulation data with the experimental data. The second part was about the controller design. The course controller and position controller were designed considering the environment where the USV was sailing. Combined these two controllers, the USV course tracker was designed. By comparing the robust controller's effect with the PID's, it is concluded that the robust controller could restrain environmental disturb. And then the robust adaptive controller was designed based on the parameter uncertainties of USV hull system. Using this controller, digital simulations were done. From the analysis of the simulation results, it is concluded that the robust adaptive controller could adapt the parameter uncertainties of the USV hull. In the third part, the visual simulation system for the USV was established. Firstly the manual pilot, automatic pilot and integrated pilot system architecture were designed. Then the visual simulator for the USV was established. At last, various simulations were done for the USV.The six-degree of freedom mathematical model for USV, the robust controller and the architecture for USV motion control were testified by the way of visual simulation experiments.