Research On Model-Free Motion Control Method Of Unmanned Surface Vehicle

Unmanned surface vehicle(USV)is an important part of the intelligent unmanned marine vehicles.With its unique advantages,it has a broad application prospects in the military and civilian fields.Motion control is the basic technical guarantee for USV to achieve precise navigation and perform complex tasks,with high research value.Under this background,this paper analyzes the difficulties in USV motion control,and focuses on the research of model-free motion control method of USV.Firstly,based on the six-degree-of-freedom motion mathematical model of USV,the three-degree-of-freedom horizontal motion mathematical model of USV in complex sea conditions is constructed by further considering the disturbance of wind,wave and current.Meanwhile,motion control characteristics of USV are analyzed.Secondly,the heading and speed control algorithms of USV based on model-free are studied.In the heading control,aiming at the problem of insufficient parameter adjustment ability of classical S plane control(CSC),an improved fuzzy S plane control(IFSC)method is proposed.In order to avoid the complicated fuzzy rules design in IFSC and overcome the discontinuity of fuzzy interpolation parameter adjustment,an intelligent adaptive S plane control(IASC)method is designed.For the speed control,in order to eliminate the steady-state deviation of using IASC,an intelligent adaptive integral S plane control(IAISC)method is proposed by adding the integration link.The feasibility and superiority of the control algorithms proposed in this paper are verified by the simulation comparison results.Then,aiming at the problem of way-point path following control,a path following scheme based on adaptive compensation line-of-sight(ACLOS)is proposed.In order to improve the convergence speed and the following accuracy of USV to the desired path,adaptive LOS radius and LOS angle compensators based on heading deviation and path deviation are designed.Aiming at the phenomenon of the overshoot during turning,a small angle transition steering strategy is proposed.At the same time,in order to improve the following efficiency of USV,a joint speed solver is designed.IASC and IAISC proposed in chapter 3 are used as the heading and speed controller of the path following scheme,by comparing ACLOS scheme with basic LOS scheme,the feasibility and superiority of ACLOS path following scheme are verified.Finally,the "KOV-1" USV test platform is built,and a large number of pool and outfield experements are carried out by adopting the IFSC,IASC heading control algorithms,IAISC speed control algorithm and ACLOS path following control scheme proposed in this paper,which fully verifies the effectiveness of the algorithm proposed in this paper.At the same time,the algorithm designed in this paper does not rely on the accurate USV mathematical model and has a high engineering application value.