CAJ | 학술논문

针对欠驱动无人艇开展了其基础运动控制策略设计的研究.首先详细地介绍了喷水推进无人艇的运动控制系统的构成,并根据喷水推进器推进原理的特点,可得出该无人艇系统是欠驱动的、快变的非线性耦合系统;然后根据人类小脑的运动协调功能,提出基于倒车斗、喷嘴转角和发动机转速协调控制的仿人智能控制策略,实现了对无人艇的完全运动控制,提高了其操纵性和灵活性;并根据该思想设计了无人艇的基础运动控制系统的软件体系结构.最后进行了无人艇在各种航行状态下的运动控制仿真试验,仿真结果表明了该仿人智能运动控制策略的有效性.
침대흠구동무인정개전료기기출운동공제책략설계적연구.수선상세지개소료분수추진무인정적운동공제계통적구성,병근거분수추진기추진원리적특점,가득출해무인정계통시흠구동적、쾌변적비선성우합계통;연후근거인류소뇌적운동협조공능,제출기우도차두、분취전각화발동궤전속협조공제적방인지능공제책략,실현료대무인정적완전운동공제,제고료기조종성화령활성;병근거해사상설계료무인정적기출운동공제계통적연건체계결구.최후진행료무인정재각충항행상태하적운동공제방진시험,방진결과표명료해방인지능운동공제책략적유효성.
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 manoeuvrability 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.