The Research And Implementation Of Motion Control System For USV With Double Propellers And Single Rudder

As an intelligent moving platform on water,unmanned surface vessel(USV)can be used in military reconnaissance,coastal patrol,hydrographic survey,marine search and rescue,etc.It has broad application prospects in military and civil fields.The technology in USV involves many aspects such as communication,navigation,control,sensors and so on.Motion control is the basis of other applications of USV,and the main research direction in the field of USV technology.Motion control mainly includes remote control,plots navigation,autonomous obstacle avoidance,route planning and so on.Therefore,the motion control system of USV that can adapt to complex water environment is an important part for USV technology research.According to the requirement of motion control,a motion control system for USV with two propellers and one rudder is studied and developed in this paper.In order to improve the fault tolerance of motion control system,a course control scheme based on incremental PID and course controller is proposed by analyzing the motion of USV under the condition of one-sided propeller in faulty state.The content of the paper is mainly divided into the following parts.Firstly,the modular design of USV control system is adopted in this paper.According to the functional requirements,a data acquisition board is developed for data exchange and fusion of control system.The designs of hardware and software are completed separately,and the sensor data acquisition and communication test are finished.Secondly,in this paper,the mathematical model of USV movement is established by using the idea of overall modeling.On this foundation,a course controller based on PID and ADRC algorithm is designed,the control performances of the two systems are analyzed by simulation experiments.The results show that the ADRC is more stable than the PID controller in course keeping and the overshoot of course change is smaller in the case of wind and wave disturbance.According to the functional requirements of the motion control system of the two-propeller and single-rudder driving,both the embedded motion control board based on ARM and PC client software of the shore-based control station are designed and developed.Thirdly,the whole control system is tested by the surface navigation experiment.The experiments mainly includes: Heading control experiments based on PID and ADRC in normal state,incremental PID and heading controller in fault state.The experimental results show that the balanced rudder angle is obtained by using incremental PID method coordinates with the course controller can effectively control the course under the condition of one-sided propeller failure,it has good applicability and fault tolerance for USV with double propellers and single rudder.