Research On System Of Unmanned Surface Vehicle Based On Cycloidal Propellers

Lakes are an important part of terrestrial ecosystem,which have very important ecological and economic functions.In recent years,the unreasonable development and utilization of lakes have led to more and more serious ecological problems of lakes in China.In order to maintain the ecological security of lakes,real-time,comprehensive and accurate monitoring of lakes'ecological environment is needed.At present,the main monitoring methods of lake waters in China are cross-section monitoring,automatic station monitoring,buoy station monitoring and remote sensing monitoring.These traditional monitoring methods have some shortcomings,such as poor monitoring flexibility,low monitoring efficiency and high cost.The appearance of unmanned surface vehicles makes up for the shortages of traditional monitoring methods.The unmanned surface vehicles have the advantages of strong monitoring flexibility,wide monitoring range,automatic measurement,strong expansibility of monitoring function and low cost.However,most of the unmanned surface vehicles in the market use screw propellers or water jet propellers as propulsion devices.In the complex water environment of lakes,such unmanned surface vehicles often fail to complete the monitoring tasks because of the insufficient control performance of propellers.Compared with other commonly used marine propellers,cycloidal propellers can change the magnitude and direction of thrust arbitrarily and rapidly in the range of 360 degrees,and have better control performance.Aiming at the problem of insufficient control performance of unmanned surface vehicles'propellers,this paper carries out research on system of unmanned surface vehicles based on cycloidal propellers.Based on the research,an unmanned surface vehicle monitoring platform with functions of manual control,remote monitoring,autonomous navigation and autonomous obstacle avoidance is built on the combination of the Internet of Things and Cloud Computing technologies,and the reliability of the monitoring platform is verified through experiments.The main research contents of this paper are as follows:(1)The overall design of the system of unmanned surface vehicles is carried out.On the basis of analyzing the functional requirements of the system,the overall design scheme of the system is proposed,and the designs of the shipborne system,cloud server system and shore-based system are carried out in turn.(2)To improve the control performance of unmanned surface vehicles,the maneuverability of unmanned surface vehicles is studied.The working principle of the cycloidal propellers and the motion control principle of unmanned surface vehicles are analyzed.On this basis,the hydrodynamic performance simulation of cycloidal propellers is carried out and the control mode of unmanned surface vehicles is optimized based on the simulation results.(3)To improve the abilities of unmanned surface vehicles to navigate autonomously and avoid obstacles autonomously,the research on the path planning methods of unmanned surface vehicles is carried out.A path planning scheme for unmanned surface vehicles is designed;The A*algorithm is used to plan the global path of unmanned surface vehicles,and the shore-based software with the function of automatic generation of the global planning route is developed,which improves the autonomous navigation capability of unmanned surface vehicles;The dual fuzzy control algorithm is used to plan the local path of unmanned surface vehicles.The feasibility of the algorithm is verified by numerical simulation,and the autonomous obstacle avoidance capability of unmanned surface vehicles is improved.(4)A monitoring platform of unmanned surface vehicles is built and an experimental study is carried out.Combined with the Internet of Things and Cloud Computing technologies,the implementation of shipborne system,cloud server system and shore-based system is carried out,and a monitoring platform of unmanned surface vehicles is built.The launching experiment of the monitoring platform is carried out,and the experimental results show that the designed monitoring platform of unmanned surface vehicles has functions of manual control,remote monitoring,autonomous navigation and autonomous obstacle avoidance,which can be used for environmental monitoring of complex waters in lakes.