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Experimental control structure of unmanned surface vessel

A control structure, unmanned ship technology, applied in two-dimensional position/channel control and other directions, can solve problems such as difficult to modify motion control algorithms

Inactive Publication Date: 2012-09-26
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] In order to solve the problem existing in the prior art that it is difficult to modify the motion control algorithm quickly, the present invention proposes a control structure for an experimental unmanned ship

Method used

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  • Experimental control structure of unmanned surface vessel
  • Experimental control structure of unmanned surface vessel
  • Experimental control structure of unmanned surface vessel

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Experimental program
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Embodiment Construction

[0015] Describe the present invention below in conjunction with embodiment:

[0016] The unmanned surface vehicle carrier itself can be designed and manufactured according to different navigation control experiment requirements or an existing model can be selected. In the embodiment, a single yacht model manufactured by Henan Xinzhou Yachting Company is used.

[0017] The control structure of the experimental unmanned ship includes on-shore modules, on-board modules, navigation sensors, and hull propulsion and manipulation mechanisms. The shore module includes a shore communication module, a navigation parameter display module, a motion control module and a mission planning module; the ship module includes a ship communication module, a data acquisition and receiving module, and an actuator drive module.

[0018] The control computer of the shore module adopts Lenovo ThinkPad X61 notebook computer, the communication module adopts the XStream data transmission radio module of A...

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Abstract

The invention provides an experimental control structure of an unmanned surface vessel, which comprises a shore module, a ship module, a navigation sensor and a ship body propelling and steering mechanism. A data collecting and receiving module collects movement parameter information of a ship body measured by the navigation sensor according to a set control cycle; a ship communication module transfers the movement parameter information of the ship body to a shore communication module; a navigational parameter display module displays the movement parameter information of the ship body; a movement control module carries out movement control resolving according to the movement parameter information of the ship body to obtain a drive instruction of movement of the ship body; and the shore communication module transfers the drive instruction to the ship communication module, and the ship communication module transfers an execution mechanism drive module and controls the ship body propelling and steering mechanism to drive the ship body to move according to the control requirement. According to the experimental control structure, modifying and validating of a movement control algorithm can be finished just by modifying shore control software in an experimental process without modifying ship control software, and a research of a movement control experiment of the unmanned surface vessel is conveniently carried out.

Description

technical field [0001] The invention relates to the field of ship automatic control, in particular to a control structure of an experimental unmanned ship. Background technique [0002] The motion control of unmanned surface vehicles is one of the hot issues in the field of international control research. The research content involves point stabilization, trajectory tracking, waypoint tracking, path tracking, formation coordination, etc., which has important theoretical research and engineering application value. [0003] The water experiment is an important step in the motion control research of unmanned surface vehicles. Its purpose is to verify the effectiveness of the control algorithm and test the engineering application value of the algorithm. Traditional unmanned ships adopt a pre-programmed autonomous control mode, that is, send control commands from the shore controller to the unmanned surface ship, including navigation speed, route tasks, control parameters, etc. ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 高剑严卫生张福斌崔荣鑫王银涛张立川刘明雍彭星光
Owner NORTHWESTERN POLYTECHNICAL UNIV
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