基于自适应专家S面算法的微小型USV控制系统设计

摘要

研究一类微小型水面无人艇(unmanned surface vessel,USV)的运动控制系统设计问题,提出了一种自适应专家S面运动控制算法.首先,基于STM32-ARM核心板设计了一类微小型无人艇的运动控制系统,基于Labwindows/CVI软件开发了上位机监控系统;其次,充分融合专家系统和S面控制算法的优势,提出了一种自适应专家S面运动控制算法,用于微小型无人艇的航速和航向控制;最后以所研制的“神龙号”微小型无人艇为载体,通过大量的水池试验和外场试验,验证了所设计和开发的运动控制系统的有效性和可靠性;同时通过对比试验,体现出了所提出的自适应专家S面控制算法在无人艇航向和航速控制方面的优越性.%Design problem of motion control for micro-USV is discussed,and an adaptive expert S planed algorithm is proposed.This motion control system is designed based on the STM-32 ARM core board,and a PC monitoring system is developed with the software Labwindows/CVI.By the integration of expert control system and S plane control algorithm,an adaptive expert S plane algorithm is proposed.In order to verify the effectiveness and reliability of the designed micro-USV's motion control system,an experimental platform for micro-USV "Shen Long" (SL) is developed,and a large number of indoor pool experiments and outdoor lake experiments are carried out.Through a series of comparative experiments,superiority of the proposed adaptive expert S plane on speed control and heading control of the micro-USV is presented.