Course control system and method for unmanned surface vehicle

Abstract

The invention relates to the field of unmanned control methods, in particular to a course control system and method for an unmanned surface vehicle. The control system comprises an upper computer, a transmission station and a lower computer. The control method includes the set steps that an expected course is input in a human-computer interaction interface of an upper computer operating deck and transmitted to the lower computer through the transmission station; information is acquired and transmitted, wherein unmanned surface vehicle comprehensive information acquired by the lower computer is transmitted into the upper computer through the transmission station; and control is conducted, wherein the upper computer conducts calculation and processing according to the received unmanned surface vehicle comprehensive information, a rudder angle delta is output and transmitted to the lower computer, and the rudder direction is automatically changed through a course control device, so that the course of the unmanned surface vehicle is adjusted. The system and method have the beneficial effects that maneuverability is high, robustness is strong, a stepping motor and a bevel gear wheel are simultaneously adopted for driving the steering course control device, the control accuracy is higher, steering is more accurate, and the application prospect is good.

Description

technical field [0001] The invention relates to the field of unmanned control methods, in particular to a heading control system and method for an unmanned surface boat. Background technique [0002] Surface unmanned boats are mainly used in water search and rescue, emergency response, cruising, surveying and other fields. During the voyage, surface unmanned boats often encounter high traffic density, curved channels, many shallow and narrow sections, meteorological and hydrological environments, etc. In complex situations (such as the middle and lower reaches of the Yangtze River, the water network channel in northern Zhejiang, the port entry and exit channels, etc.), at this time, in order to ensure the navigation stability and safety of the unmanned boat, it is required that the unmanned boat should have the ability to control the course. High mobility and robustness. [0003] The goal of the course control of the surface unmanned boat is to make the unmanned boat sail a...

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Problems solved by technology

[0004] In order to achieve the above-mentioned goal of surface unmanned vehicle heading control, relevant researchers in various countries have set up a variety of control algorithms, roughly including proportional-integral control (PID), adaptive control, fuzzy control, artificial neural network control, sliding mode control and feedback control. Linearization, etc., but each control algorithm has its own defects in a specific environment. For example, when PID deals with high-frequency interference of waves, it is easy to cause the low-frequency characteristics of the control system to deteriorate, resulting in continuous periodic yaw, reducing navigation accuracy. , increasing fuel consumption; adaptive control for ships navigating in wind and waves, when slow-changing disturbances and abrupt disturbances exist at the same time, the robustness of the heading autopilot is poor; in addition, it is worth noting that most of the above control algorithms are currently still It only stays in the simulation stage and is rarely applied in practice

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