The Hydrodynamic Models And The Decoupling Control Research In The Speed&Course Of USV

The USV is very elastic and flexible vehicle and is well applied in many areas such as military and civil activity. But the concerning research is rare, and the single model is studied during the whole speed of USV. But as the fact, there are some differences in the hydrodynamic with different speed and these diversements exist during every sail condition.The hydrodynamic and kinematics models of USV based on different sailing condition are established firstly in this paper, and then, in base of the ferthers of wind and wave, the primary models of wind and wave are built. Secondly, under this model, the open-loop moving feather is studied and the safe-sailing restriction is inferred under a certain sea-level USV through the research with speed from zero to high-speed slide is studied by the USV with which the above models can be tested. And the feather under the models of wind and wave such as the course, rolling corner under a given spout corner can be got, by which the open-loop moving feather can be known. Also, the safe-sailing feather can be got.The effectiveness of the models is shown from the simulation results. And then the PID comtroller and the decoupling controller are constructed, and the speed & course are controlled separately with the PID controller and the part-decoupling controller under that USV in the base of that restriction. At last through the contrastion of those two control ways, the decoupling control way is proved to be more feasible and practical than the way of PID control, so that it can be learned more that the decouple control way is better.The scholars past have done some researches, and the same points of them are summarized as below:1) only one of the models of the dewatering, transiting or sliding condition hydrodynamic is studied on the USV singlely,2) the open-loop active features of USV are not studied,3) the hydrodynamic models of different sailing condition are not applied on the same USV. But the fact is that the hydrodynamic model is changed with the addition of speed, so with the change of speed, the single model used on the USV can no longer truely reflect the real condition of USV and the study is confined.So, the studies past are all suit for only one certain sailing condition. With the change of speed, the single hydrodynamic model is not acceptable all the time. So with the different speed, the establishment of the hydrodynamic model on the same USV and the reflection of the active features under this model have become an aporia and a key to the study of USV.In addition, the speed&course are departed to the fast and the slow responding circuits which is mostly used as a decouple methord by the schlars past. But up to now, this methord can only be acceptable for the dewatering botes and the feasibility of the way applied on the high-speed USV is still investgated. So the other feasible decouple ways need to be explored in this paper.