登录    |    注册

您好,欢迎来到中国测试科技资讯平台!

首页> 《中国测试》期刊 >本期导读>无人艇自主靠泊控制系统设计

无人艇自主靠泊控制系统设计

231    2020-10-27

¥0.50

全文售价

作者:黄烨笙1, 徐郑攀1, 陈远明2, 彭琦3, 洪晓斌1

作者单位:1. 华南理工大学机械与汽车工程学院,广东 广州 510641;
2. 华南理工大学土木与交通学院,广东 广州 510641;
3. 工业和信息化部电子第五研究所质检中心,广东 广州 510610


关键词:无人艇;自主靠泊;路径跟踪;LOS算法


摘要:

针对无人艇自主靠泊控制问题,设计无人艇自主靠泊控制系统。以STM32单片机作为主控制器,基于CAN总线设计传感器采集处理系统,采用模糊LOS算法计算靠泊路径的视线角并将其作为期望航向,结合双闭环串级PID控制算法完成无人艇航向控制,从而实现无人艇的自主靠泊控制。最终通过自主靠泊实艇实验,验证无人艇自主靠泊控制系统能够控制无人艇沿着指定靠泊路径到达指定泊点,且靠泊路径跟踪平均误差小于1 m,满足无人艇的自主靠泊需求。


Design of automatic berthing control system of USV
HUANG Yesheng1, XU Zhengpan1, CHEN Yuanming2, PENG Qi3, HONG Xiaobin1
1. School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641, China;
2. School of Civil Engineering and Transportation, South China University of Technology, Guangzhou 510641, China;
3. Quality Inspection Center, The Fifth Institute of Electronics of Ministry of Industry and Information Technology, Guangzhou 510610, China
Abstract: Aiming at the problem of the control of automatic berthing of unmanned surface vehicle (USV), the automatic berthing control system of USV is designed. Taking STM32 single-chip microcomputer as the main controller, the sensor acquisition and processing system is designed based on CAN bus. The fuzzy line-of-sight (LOS) algorithm is used to calculate the LOS angle of the berthing path as the desired heading. Combined with double closed-loop cascade PID control algorithm, the heading control of unmanned ship is realized, so as to realize the automatic berthing control of USV. Finally, through the experiment of automatic berthing, it is verified that the automatic berthing control system can control the USV to reach the designated mooring point along the designated berthing path, and the average tracking error of the berthing path is less than 1 m, which meets the berthing requirements of USV.
Keywords: USV;automatic berthing;path tracking;line-of-sight algorithm
2020, 46(10):111-117  收稿日期: 2020-05-15;收到修改稿日期: 2020-07-23
基金项目: 国家重点研发计划项目(2019YFB1804200);广东省科技计划项目(2019B151502057);广州市科技计划项目(201902010024)
作者简介: 黄烨笙(1995-),男,广东揭阳市人,硕士研究生,专业方向为制造工程智能化检测及仪器
参考文献
[1] LIU Z X, ZHANG Y M, YU X, et al. Unmanned surface vehicles: An overview of developments and challenges[J]. Annual Reviews in Control, 2016, 41: 71-93
[2] 彭艳, 葛磊, 李小毛, 等. 无人水面艇研究现状与发展趋势[J]. 上海大学学报(自然科学版), 2019, 25(5): 645-654
[3] 魏新勇, 黄烨笙, 洪晓斌. 基于VFH~*的水面无人艇局部避障方法[J]. 中国测试, 2018, 44(12): 39-45
[4] 薛春祥, 黄孝鹏, 朱咸军, 等. 外军无人系统现状与发展趋势[J]. 雷达与对抗, 2016, 36(1): 1-5, 10
[5] Unmanned systems integrated roadmap FY2017-2042[R]. U. S.: United States Department of Defense, 2017.
[6] 林平. 无人驾驶船舶规模应用指日可待[J]. 水运, 2015(3): 50-53
[7] 霍萍. “天行一号”惊艳问世——记我校国家863计划项目水面无人艇参展“创科博览2017”[N]. 工学周报, 2017-11-17(2132).
[8] 张强, 张显库. 船舶自动靠泊控制研究综述[J]. 大连海事大学学报, 2015, 41(3): 1-9
[9] WOO J, KIM N. Design of guidance law for docking of unmanned surface vehicle[J]. Journal of Ocean Engineering & Technology, 2016, 30(3): 208-213
[10] MAI T V, CHOI H S, OH J Y, at al. A study on automatic berthing control of an unmanned surface vehicle[J]. Journal of Advanced Research in Ocean Engineering, 2016, 2(4): 192-201
[11] 李晔, 贾知浩, 张伟斌, 等. 面向无人艇自主靠泊的分层轨迹规划与试验[J]. 哈尔滨工程大学学报, 2019, 40(6): 1-7