| Surface unmanned boat is an unmanned intelligent platform that can respond quickly and flexibly on the water.It has the advantages of high flexibility,good concealment,low maintenance and use cost,and low noise.It can be equipped with a variety of environmental sensing sensors or operating tools to replace people in completing tasks in harsh environments on the water,and can greatly improve the efficiency of operations.It has increasingly become an important equipment for people to operate at sea.This thesis takes the self-designed and developed surface unmanned boat as the research object,and proposes a control system that can realize long-distance wireless communication,intelligent observation and autonomous navigation of route planning.On the basis of analyzing the function requirements of the unmanned boat,design and research the programming and function realization of the system software,establish the surface unmanned boat motion control system,the motion control mathematical model and the motion control algorithm,and carry out the actual lake experiment on the designed control system.First of all,according to the overall functional requirements of the surface unmanned boat,this thesis designs two parts of the shore-based control system and the boat-based control system,respectively establishes the shore-based control system structure and the boat-based control system structure,and selects related hardware.Design a control system scheme based on CDP Studio software to realize the monitoring of shore-based workstations and the motion control of boat-based industrial computers in the system.Aiming at the communication part of shore-based and boat-based,a scheme of using 4G modules and 4G transparent transmission to transmit data and images is proposed to complete the design of the entire control system of the unmanned boat.Furthermore,for the surface unmanned craft studied in this thesis,the motion coordinate system,motion mathematical model and environmental disturbance dynamics mathematical model are established and simplified.According to the established model,a fuzzy adaptive Backstepping algorithm is used to design the heading controller,and the Nomoto model is used for trajectory tracking simulation.By building and verifying the heading controller and trajectory tracking model in Simulink environment,the results show that the fuzzy adaptive Backstepping control algorithm has good robustness and anti-interference.Finally,the surface unmanned boat conducts autonomous navigation control system experiments.First,the shore-based control system and the boat-based control system were tested,and joint debugging was carried out.During launching,experiments on airtightness and balance were performed;during the motion control test,the unmanned boat was manually controlled and successfully completed direct navigation,steering and other actions;during autonomous navigation,it was verified that the unmanned boat could achieve autonomy Change the direction and speed to reach the target point;the autonomous navigation system can complete the collection and integration of sensor data,read and display,and receive and send.The experiment finally confirmed the reliability and operational stability of the designed motion control system of the unmanned boat. |
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