Research On Unmanned Ship Navigation Attitude Control System Based On Fuzzy PID

As an important part of the water unmanned intelligent equipment,the surface unmanned ship is the research and development focus of scholars at home and abroad.Unmanned ships must have corresponding self-intelligence in the process of surface operation,and the key link lies in the stability of their own control.The autonomous control includes power system control and navigation angle attitude control for the unmanned ship.The key issue involved in solving the above is a key way to improve the intelligence of unmanned ships.Focusing on the above content,this paper mainly uses the one-type double-drive electric unmanned ship independently developed by Hainan University as the platform to carry out the design and simulation verification of the parameter self-tuning fuzzy PID controller and wind disturbance model,and carries out two angle control loops and speed control loops.Cascade fuzzy PID controller real ship experiment.The main innovations are as follows:Firstly,based on the knowledge established by the wind disturbance model,the wind disturbance mathematical model is built.Based on the unmanned ship hull data,the ship rotation operation simulation experiment and the Z-type operation simulation experiment are carried out,and the experimental data is subjected to parameter recursive estimation to design fuzzy control.The simulation and platform construction provides a mathematical model of the research object.Secondly,after analyzing the shortcomings of the traditional PID control method for the unmanned ship control system,the parameter self-tuning fuzzy PID controller is introduced.The angle control loop heading controller and the speed control loop navigation controller are designed.The simulation results show that the designed controller has good adaptive ability,and can quickly respond to reduce deviation and achieve accurate route tracking.Finally,the controller based on the parameter self-tuning fuzzy PID control principle is applied to the floating unmanned ship with STM32 microcontroller as the hardware platform and Keil5 as the software platform.The information processing is controlled by fuzzy control algorithm.After the actual ship test,the experimental results show that the designed parameter self-tuning fuzzy PID controller has fast response capability in the wind interference environment,and the control precision also meets the specified target.