HEADING AND SPEED JOINT CONTROL OF DOUBLE-PUSH USV BASED ON FUZZY PID

被引：6

作者：

Yuan, Jian ^{[1
,2
]}

Zhang, Wenxia ^{[3
]}

Liu, Hailin ^{[1
,2
]}

Li, Hui ^{[1
,2
]}

机构：

[1] Qilu Univ Technol, Shandong Acad Sci, Inst Oceanog Instrumentat, Natl Engn & Technol Res Ctr Marine Monitoring Equi, Qingdao 266100, Peoples R China

[2] MNR, Key Lab Ocean Observat Technol, Tianjin 300112, Peoples R China

[3] Qingdao City Univ, Dept Mech & Elect Engn, Qingdao 266106, Peoples R China

来源：

INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION | 2023年 / 38卷 / 01期

关键词：

double-push unmanned surface vehicle; speed control; heading control; MOOS-Ivp; fuzzy PID;

D O I：

10.2316/J.2023.206-0740

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The heading and speed joint control method of double electric propulsion unmanned surface vehicle (USV) based on fuzzy proportion integral differential (PID) is proposed. According to the requirements of joint speed and heading control of double-push unmanned surface vehicle, the functions and system composition of corresponding software modules under MOOS-Ivp architecture are studied, the software modules required to ensure the normal operation of the control system are configured, and the closed-loop control method of heading and speed control based on fuzzy PID is carried out. Further, the closed-loop control module software is compiled according to the system control flow, and the control protocol of lower computer controller and motion controller is designed and carried out in MOOS-Ivp architecture. Finally, the speed control factor of the unmanned surface vehicle is obtained through the shore experiment, and the effectiveness of the proposed fuzzy PID control method is verified by simulation and shore experiment.

引用

页码：32 / 41

页数：10

共 21 条

[1] Comparison of LQG and Adaptive PID Controller for USV Heading Control [J].

Asfihani, Tahiyatul ;

Arif, Didik Khusnul ;

Subchan ;

Putra, Firdaus Priyatno ;

Firmansyah, Moch Ardi .

INTERNATIONAL CONFERENCE ON MATHEMATICS: PURE, APPLIED AND COMPUTATION, 2019, 1218

[2] An affordable and portable autonomous surface vehicle with obstacle avoidance for coastal ocean monitoring [J].

Carlson, Daniel F. ;

Fursterling, Alexander ;

Vesterled, Lasse ;

Skovby, Mathias ;

Pedersen, Simon Sejer ;

Melvad, Claus ;

Rysgaard, Soren .

HARDWAREX, 2019, 5

[3] Unmanned vehicles for environmental data collection [J].

de Sousa, J. Borges ;

Goncalves, G. Andrade .

CLEAN TECHNOLOGIES AND ENVIRONMENTAL POLICY, 2011, 13 (02) :369-380

[4]

Dou Q., 2021, COMMAND CONTROL SIMU, V43, P17

[5]

Fan YS, 2015, CHIN CONTR CONF, P8472, DOI 10.1109/ChiCC.2015.7260979

[6]

Gong B.O., 2020, COMPUTER ENG DESIGN, V41, P2315

[7] A low-cost and small USV platform for water quality monitoring [J].

Jo, Wonse ;

Hoashi, Yuta ;

Paredes Aguilar, Lizbeth Leonor ;

Postigo-Malaga, Mauricio ;

Garcia-Bravo, Jose M. ;

Min, Byung-Cheol .

HARDWAREX, 2019, 6

[8] Development of unmanned airboat for water-quality mapping [J].

Kaizu, Yutaka ;

Iio, Munetaka ;

Yamada, Hiroyuki ;

Noguchi, Noboru .

BIOSYSTEMS ENGINEERING, 2011, 109 (04) :338-347

[9]

Le MD, 2003, 2003 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, VOLS I-III, PROCEEDINGS, P1411

[10] Unmanned Maritime Vehicles, 20 Years Of Commercial and Technical Evolution [J].

Manley, Justin E. .

OCEANS 2016 MTS/IEEE MONTEREY, 2016,

← 1 2 3 →