Research On Power Matching And Tracking Control Method Of Recoverable Unmanned Surface Vehicle

With the capability of autonomous planning and navigation,Unmanned surface vehicle(USV)has a very broad application prospect in the fields of Marine resource exploration and mining,Marine hydrological monitoring,Marine biology research,communication relay,and Marine weather prediction.Aiming at the problem that how to use mother ship stern slipway to realize the recovery of the unmanned ship,the power matching of the unmanned ship is studied to ensure that the power system of the unmanned ship has sufficient tracking ability of the mother ship,and the corresponding tracking control algorithm is studied in the same time.First of all,aiming at the power matching problem existing in the design process of unmanned vehicle system,MATLAB is used to write the power matching design software for unmanned vehicle which is devoted to the power matching and calculation in the design and manufacturing process of USV on the basis of making full use of the power matching principle and according to the performance of ship diesel engine and propeller.Through comparison and verification,the software can effectively carry out dynamic matching design.Secondly,the modeling and simulation method of the main power device of unmanned vehicle is studied according to the power demand of unmanned vehicle.The model of each main part of the internal combustion engine is built on the Simulink platform,and all parts are linked together to form a complete internal combustion engine system.The model equates the diesel engine operation process into a series of steady-state processes,and the modeling idea maximizes the modularization,reusability and parameterization.Aiming at the target tracking task in the working process of unmanned craft,this paper establishes the nonlinear model of unmanned craft,and adopts the traditional step-back method to design the controller(including longitudinal propulsion force and steering moment)to realize the tracking control of the given trajectory by USV.At the same time,in consideration of natural interference,the trajectory tracking error model was established.Combined with Backstepping technology and Lyapunov nonlinear theory,dynamic sliding mode control was introduced to design the trajectory tracking controller of unmanned craft to ensure the stability of the closed loop system of unmanned craft,and its stability was proved based on Lyapunov theory.The simulation results of the two controllers are compared to further illustrate the superiority of the latter design method.Finally,the paper innovatively simulates the main power device and control method of the surface unmanned vehicle,and further verifies the rationality of the diesel engine model and the method.The simulation results show that the unmanned vehicle can accurately and smoothly complete the trajectory tracking task under the random environment interference,which has strong robustness and practicability.The power system loading is completed,and the real ship test is carried out.The feasibility of the designed power system and control method is preliminarily verified.