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
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