Design of the basic motion control system for water-jet-propelled unmanned surface vehicle

被引：0

作者：

Wu, Gong-Xing ^{[1
]}

Zou, Jin ^{[1
]}

Wan, Lei ^{[1
]}

Sun, Han-Bing ^{[1
]}

机构：

[1] State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin Heilongjiang 150001, China

来源：

Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2010年 / 27卷 / 02期

关键词：

Control systems - Motion control - Computer architecture - Propulsion - Unmanned surface vehicles - Fighter aircraft;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

Design of the basic motion control strategy for the under-actuated Unmanned Surface Vehicle (USV) is undertaken. Firstly, the motion control system architecture of the water-jet propelled USV is introduced in detail. According to the characteristic of water-jet propulsion principle, the USV system is an under-actuated, time-varying and nonlinear coupled system. Secondly, simulating the coordination control function of the human cerebella, the human-simulate control strategy is proposed based on the coordination control of astern deflector rotating, nozzle rotating and engine rotation speed. So the full controlling of the surface vehicle in various sailing states is achieved, and its maneuverability and agility are improved. Then the software architecture for the control system is designed using this idea. Finally, the USV motion control simulation tests are undertaken in different sailing states. And the simulation validates the effectiveness of the human-simulate control strategy.

引用

页码：257 / 262