| 廖煜雷,万磊,庄佳园.喷水推进型无人水面艇的嵌入式运动控制系统研究[J].高技术通讯(中文),2012,22(4):416~422 |
| 喷水推进型无人水面艇的嵌入式运动控制系统研究 |
| An embedded motion control system for water jet propelled unmanned surface vehicles |
| 修订日期：2010-11-16 |
| DOI： |
| 中文关键词: 无人水面艇（USV）， 运动控制， 嵌入式系统， S面控制， α－β－γ滤波器 |
| 英文关键词: unmanned surface vehicle (USV), motion control, embedded system, S surface control, α－β－γ filter |
| 基金项目:863计划（2008AA092301），国家自然科学基金（50909025/E091002）和水下智能机器人技术重点实验室研究基金（HEUFT08017）资助项目 |
| 作者 | 单位 | | 廖煜雷 | 哈尔滨工程大学水下智能机器人技术重点实验室 | | 万磊 | 哈尔滨工程大学水下智能机器人技术重点实验室 | | 庄佳园 | 哈尔滨工程大学水下智能机器人技术重点实验室 |
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| 中文摘要: |
| 针对无人水面艇（USV）系统因其强非线性和不确定性且难以建立精确的数学模型而难以控制的问题，进行了嵌入式运动控制研究。为某单泵喷水推进型无人水面艇设计了嵌入式运动控制系统，分别从软件和硬件两个方面实现了该嵌入式控制系统的体系结构。为了满足嵌入式无人水面艇控制系统对数据处理实时性和可靠性的需求，在S面运动控制器的基础上引入了α β γ滤波器。海试和湖试试验结果表明所设计的控制器和滤波器具有良好的控制性能，试验验证了该控制系统的可行性和可靠性。 |
| 英文摘要: |
| A study of embedded motion control was conducted to solve the difficulties in design of a control system for an unmanned surface vehicle (USV) caused by the facts that an USV is a strongly nonlinear, uncertain system and its accurate mathematical model is difficult to establish. An embedded motion control system for a certain single water jet propelled USV was designed. The architecture of the embedded motion control system was constructed from the aspects of hardware and software. To satisfy the real time and reliability of data processing of the embedded control system, a α β γ filter was incorporated into the S surface controller. The results of the sea trial and the lake trial showed that the proposed controller together with the filter can provide good control performance, and the feasibility and reliability of the embedded control system were also verified. |
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