鱼雷状小型无人艇路径跟踪控制系统研制

为了提高无人艇在水域作业时的航向跟踪精度,自主设计了一款鱼雷状小型无人艇路径跟踪控制系统。该系统由岸基控制系统和艇载控制系统组成,具有自主巡航和手动控制2种工作模式。岸基控制系统通过数传电台与艇载控制系统进行信息交互,显示传回的状态信息并下达控制指令,在自主航行模式下完成BD09与WGS84的坐标系转换、期望航向角计算和目标点更新;艇载控制系统采用STM32F429作为控制芯片,完成数据采集和运动控制,在自主巡航模式下提供位置和航向数据,通过路径跟踪控制器输出的舵机PWM信号调整航向。实验表明设计的路径跟踪控制系统运行稳定,精度较高。

Development of Path Tracking Control System for Small Unmanned Torpedo-Like Boat

In order to improve the course tracking accuracy of unmanned boat in water,a small unmanned torpedo-like boat path tracking control system is designed independently.The system is composed of a shore-based control system and an onboard control system.It has two operating modes: autonomous cruise control mode and manual control mode.The shore-based control system carries out information exchange with the onboard control system through data transmission radio,displays the returned status information,gives control instructions,and completes the coordinate system transformation from BD09 to WGS84,the expected course angle calculation and the target point update in the autonomous navigation mode.The onboard control system uses STM32F429 as the control chip to complete data acquisition and motion control,it provides position and heading data in the autonomous navigation mode and adjusts heading through the output PWM signal of the steering engine by the path tracking controller.Experiments show that the designed path tracking control system runs stably and has high accuracy.