CAJ | 학술논문

针对直流电机驱动固定双桨的无人水面艇，介绍了一种自主直线路径跟踪系统，该系统由岸基监控系统和艇载控制系统组成，具有自主航行和遥控航行两种工作模式，可在自主航行出现危险时切换到遥控模式，保证航行安全。岸基监控系统通过数传电台与艇载控制系统通信，向艇载控制系统发送控制命令，接收并显示其传回的状态信息；艇载控制系统以工控机为主控单元，进行数据采集与解算，与岸基监控系统通信，并为直线路径跟踪控制算法提供程序接口；GPS双天线高精度测向定位系统为直线路径跟踪控制算法提供位置和航向信息，直线路径跟踪控制算法根据距离偏差和航向偏差计算出左右两侧电机电压，进而控制无人水面艇航行。实验分别采用了PID、模糊控制和模糊PID三种控制方法，系统实际水上实验表明，在风力2~3级，晴到多云天气条件下，无人水面艇对目标路径的最大跟踪误差小于0.6 m。
침대직류전궤구동고정쌍장적무인수면정，개소료일충자주직선로경근종계통，해계통유안기감공계통화정재공제계통조성，구유자주항행화요공항행량충공작모식，가재자주항행출현위험시절환도요공모식，보증항행안전。안기감공계통통과수전전태여정재공제계통통신，향정재공제계통발송공제명령，접수병현시기전회적상태신식；정재공제계통이공공궤위주공단원，진행수거채집여해산，여안기감공계통통신，병위직선로경근종공제산법제공정서접구；GPS쌍천선고정도측향정위계통위직선로경근종공제산법제공위치화항향신식，직선로경근종공제산법근거거리편차화항향편차계산출좌우량측전궤전압，진이공제무인수면정항행。실험분별채용료PID、모호공제화모호PID삼충공제방법，계통실제수상실험표명，재풍력2~3급，청도다운천기조건하，무인수면정대목표로경적최대근종오차소우0.6 m。
An autonomous linear path following system of Unmanned Surface Vehicle ( USV) which was equipped with two fixed propellers and drived by direct current motor was described in this paper. The system consisting of shore-based monitoring system and boat-loaded control system could work in two control modes: automatic navigation and remote control. When dangerous situations occured in automatic navigation, the system could ensure the safety of sailing by switching from automatic navigation mode to remote control mode. The communications between shore-based monitoring system and boat-loaded control system were carried out through digital radio, the control commands were sent to boat-loaded control system by shore-based monitoring system which received the state data that was returned by boat-loaded control system and showed them on the monitor screen. Boat-loaded control system whose main control unit was the industrial personal computer achieved data acquisition and calculation and provided program interface for linear path following control algorithm. Pricise orientation and position information were provided to path following control algorithm by high-precision GPS system based on double antennas. Three linear path following control algorithms based on PID, fuzzy control and fuzzy PID were used when experimenting, linear path following control algorithm calculated the propeller voltage of each side to control USV sailing according to the distance error and the heading error. The actual experiments were carried out in the weather condition of clody and 2 to 3 grades wind and the results show the system can follow the target path and the maximum following error is less than 0. 6 m.