Research On Navigation Control And Power Management System Of Aquaculture Operation Boat

With the continuous improvement of people's living standards,the market's demand for river crabs is also increasing year by year.However,at present,the crab breeding in China is still manual control,with high labor intensity and low intelligence,which is easy to cause uneven feeding.In order to realize the scientific breeding of river crab,a paddle-wheel-driven aquaculture automatic operation boat has been developed,with the funding of scientific research projects such as the Jiangsu Modern Agriculture R&D Project and the Jiangsu Fishery Science and Technology Innovation Project,which can liberate labor and improve the efficiency of river crab breeding.This paper mainly designs a navigation control system and power management system of aquaculture automatic operation boat.The navigation control system can ensure that the operation boat feeds uniformly along the planned path,and the power management system provides the necessary basis for the switching of the working state of the navigation control system and ensures the reliable operation of each power module of the boat.The main research contents of this article are as follows:A.A paddle-wheel-driven aquaculture operation boat is designed.This paper introduces the overall structure and main technical parameters of the boat.The internal structure of the main control module and the feeding module are analyzed.The structure and working principle of the control system based on the general structure of the boat are introduced.The navigation control system and power management system are described in detail.B.The navigation control system of the aquaculture automatic operation boat is designed.The GPS/geomagnetic integrated navigation system and its principle used by the boat are introduced.The plane coordinate system of the work area of the boat is established.Based on this,the cruise path planning and navigation path tracking algorithm are designed.The course controller based on Fuzzy PID is designed,and the tracking effect is verified by simulation.A speed control strategy and a course/speed distribution control strategy are designed.C.An algorithm for estimation of remaining battery capacity of aquaculture operation boat is designed.The working principle and key parameters of the lead-acid battery are introduced;a second-order RC equivalent model of the lead-acid battery is established,and according to the difference between the sailing and cruise status of the working boat,a battery remaining capacity estimation algorithm based on the working characteristics of the boat is established.In this way,the balance between the estimation accuracy and the amount of system tasks is achieved.The EKF algorithm is designed in detail,and its performance is verified by simulation.D.The software and hardware of aquaculture boat based on STM32 series chips are designed.Between them,the hardware part designs the main control module,navigation module,wireless communication module,motor drive module,power supply module and voltage and current acquisition module.The software part designs the communication analysis unit,cruise control unit,information storage unit and battery remaining capacity estimation and warning unit.Through a series of experiments,the availability of the navigation control system and power management system was verified.The experimental results show that the average error of straight-line path tracking is less than 0.1m and the maximum error of turning is less than 0.6m when the differential signal is not received.The power management system can monitor the battery status parameters in real time and estimate the remaining battery power online,which can ensure the successful completion of the feeding tasks.