Design And Optimization Of Unmanned Surface Vessels' Autopilot Control System

With the rapid development of automatic control and artificial intelligence,drones and unmanned vehicles have gradually entered people's lives.As a new type of intelligent ship,unmanned surface vessels appears in people's vision.Because it can be widely used in all aspects of marine activities,many scholars have focused their attention on this field of research.As an important part of the ship's maneuvering motion,the autopilot is the basis of unmanned surface vessels' navigation control.It plays an extremely important role in the speed and accuracy of the response to the maneuvering commands during the movement of the unmanned surface vessels.The working state of the autopilot can be divided into two types:heading control and track control.Heading control means that the ship moves away from the set course due to external interference during the movement,and then driven back to the set course by the control system;Track control means that after setting the route,no matter where the ship is,it can quickly return to the set route and reach the desired target position along the route.Since the track control is essentially the continuous adjustment of the unmanned surface vessels' heading control,this article mainly focuses on the research of autopilot for the heading control:(1)By reading the literature,the research status of domestic and foreign unmanned surface vessels and related achievements in autopilot control are summarized;(2)According to the actual situation studied in this article,based on the separated ship motion mathematical model,the mathematical model of the unmanned surface vessels is established to lay the foundation for computer simulation;(3)Based on the traditional PID control algorithm,the idea of integral separation is introduced.Combined with the advantages of fuzzy control,a fuzzy PID controller is designed.And the performance of the controller is verified by simulation.(4)The mathematical model of unmanned surface vessels under the influence of wind and waves is established.By simulating the movement of unmanned surface vessels under the influence of wind and waves,the anti-jamming performance of the controller is verified.Finally,analyze and summarize the results.