Research On Adaptive Motion Control Of Podded Propulsion Unmanned Surface Vehicle

With the development of sensor technology and artificial intelligence,unmanned surface vehicles(USV)have gradually been applied into the validation experiments of real ships and civil-military engineering besides the simulation in the laboratory.Relevant researches on USV focus on the aspects of ship-hull design,autonomous navigation,guidance and control,and etc.The maneuverability of USV can be influenced by the task loading,speed and external environment interference,so its motion control algorithm should have adaptive coordination ability.Besides,the performance of the control system will affect the implementation of the USV motion control algorithm and the development of related real ship experiments.The podded propulsion USV has attracted the increasing attention of relevant industries due to its good maneuverability.Therefore,in this paper,taking the podded propulsion iNav-Ⅱ USV as the research object,researches are conducted from the aspects of the control system design and adaptive control algorithm design.(1)The control system of iNav-Ⅱ USV is designed.Firstly,the distributed control system of USV based on the micro controller unit and Ethernet is designed and implemented.Then,the shore-based ground station software is designed and developed based on Qt,Eigen,Leaflet and OpenCV.Finally,the validity and reliability of the control system of USV are verified through the landbased data transmission test and real ship maneuvering experiments of USV.(2)The heading controller and yawing angular velocity controller are designed.Firstly,the online parameter identification of the state-space ship linear mathematic model is made using the recursive least square method with forgetting factor,to realize the online estimation of the parameters for USV maneuvering response model.Further,using the Internal Model Control(IMC)algorithm and estimated maneuvering response model to design and implement the USV heading controller and yawing angular velocity controller respectively,and the parameters of controllers are adjusted online.Finally,the actual effects of the controllers are verified by the real ship experiments of USV.(3)The path-following(PF)controllers are designed.Directing at the PF control problem of USV under the time-varying navigation environment and vessel speed,two types of PF controllers are constructed by combining the designed heading controller and yawing angular velocity controller with Line-of-Sight(LOS)guidance algorithm and L1 guidance algorithm respectively.A series of real ship PF experiments are carried out,and the experimental results show that the PF controllers can well realize USV’s tracking along the reference path.