Dynamic Positioning Control System Desigh Of Waterborne Operation Platform Based On ROS

Marine resources are one of the natural resource classifications.In today's global food shortage,resource,energy supply and rapid population growth,the development of marine resources is a historic development.Ship dynamic positioning plays a vital role in marine resource exploration,marine fishing,and offshore engineering operations.The ship's dynamic positioning mainly includes ship track tracking,ship heading control,and ship dynamic positioning control.The sea environment is complex and changeable.A mature dynamic positioning system needs to ensure that the dynamic positioning ship can complete the task with high precision and speed in a complex marine environment.This paper takes a floating platform as the research object,and designs and studies the dynamic positioning control system of the waterborne platform as the starting point.The method of tracking tracking based on the line of sight navigation method,the positioning based on fuzzy PID control,and the fixed point method are realized.The dynamic positioning control system for the aquatic working platform with track tracking and positioning and fixed point control functions.Mainly engaged in the following aspects of work:1.Based on the overall structural design of the waterborne work platform and the overall functional architecture function of the waterborne platform,the hardware system and software system of the dynamic positioning control system of the waterborne platform are designed.Among them: the hardware system consists of the propulsion unit,navigation and positioning unit,main control unit and drive unit;the software control system is designed based on the robot operating system(ROS),which has the characteristics of distributed work,and the message transmission through ROS The mechanism completes the integration of the software modules.2.Combined with the special rudderless-four thruster of the waterborne working platform,the mechanical characteristics of the waterborne working platform are analyzed from the aspects of dynamics and kinematics,and the three-degree-of-freedom motion mathematical model of the waterborne working platform is obtained by sorting the equation of motion.3.In order to meet the work requirements of the navigation platform to track the desired track,a navigation track tracking control system based on the visible distance line of sight navigation method is designed.Firstly,Matlab is used as the simulation platform to theoretically verify the designed track tracking controller.Then the water operation platform is used as the control object for the water experiment,and the effectiveness of the track tracking controller is carried out under 3-4 complex sea conditions.verification.4.In order to meet the work requirements of the fixed-point positioning and positioning control of the floating platform in the ocean,based on the fuzzy control idea in the intelligent control category,combined with the traditional PID control,a navigation platform positioning controller based on fuzzy PID control is designed.Firstly,Matlab is used as the simulation platform to compare the control effect of traditional PID controller and fuzzy PID controller on ship positioning and fixed point.Then,the waterborne platform is used as the control object,based on traditional PID control for water positioning and fixed-point experiment,in 3-4 The effectiveness of the navigation platform positioning controller is verified under the level of complex sea conditions.