Research On Motion Control Of Underactuated Water Surface Motion Platform

The largest amount of natural resources is marine resources.At present,the global demand for resources is increasing rapidly and land resources cannot meet the demand,so the development of the ocean will be an irreplaceable choice.The motion control technology of the surface platform can solve a lot of ocean moving body problems,whether it is a ship or a moving body such as a dynamic positioning platform,it is applicable.For example,the specific environment enables the surface moving body to be positioned to the preset desired point,even Will be disturbed by the marine environment,and the goal can still be achieved.The motion control technology of the surface platform covers dynamic positioning,trajectory tracking,course keeping,formation control and other directions.Therefore,in order to cope with the complex marine environment,it is necessary to design a set of feasible water surface motion platform control system to achieve positioning and other motion control requirements,and to ensure that the surface platform can complete operations in complex water surface environments with high accuracy Task.This paper takes an under-actuated water surface motion platform as the research object,and takes the design and research of the motion control system of the water surface motion platform as the starting point of work.The control system of the surface motion platform movement with the function of heading keeping and fixed-point control.The main tasks of this article are:1.The hardware system and software system of the motion control system of the surface motion platform are designed based on the overall structure design plan of the surface motion platform and the overall functional architecture of the surface motion platform.The hardware system covers the propulsion module,the communication module,the main control drive module and the sensor module;the software system includes the control module,the execution module,the keyboard module and the positioning module.Through a certain communication protocol,the water surface motion platform system can be integrated into practice.Control system.2.Through mathematical analysis and modeling of the motion characteristics of surface ships,it provides a reference for the actual control object—the modeling of the surface motion platform,and combines the rudderless-three-propeller structure of the special surface platform to derive the actual mathematical model of the platform,And model the existing experimental environmental loads.3.In order to meet the requirements of the positioning and heading maintenance of the surface motion platform,a motion control system of the surface motion platform based on the visual distance and line-of-sight navigation method is designed.Control the surface platform to achieve the functional effects of course keeping and fixed-point positioning.Then in theory,the platform is simulated and analyzed,and the control performance of the designed controller and the reliability of the platform’s motion control system are analyzed preliminarily.4.Based on the designed PID and line-of-sight guidance method controller and design scheme,actual water experiment verification is carried out.First introduce the design of the experimental link,including the construction of the experimental environment and the test of the experimental equipment.Then carry out experiments on the water surface movement platform under static water,different wave angles and different wind speeds.Finally,the experimental results are analyzed and compared with the simulation results,and the analysis results and the reasons for the results are summarized,and finally verified The effectiveness of the control method in this paper and the reliability and actual effect of the water surface platform motion control system designed in this paper.