水产养殖自动导航无人明轮船航向的多模自适应控制

为降低水产养殖行业劳动作业强度和人力成本,解决劳动力日益匮乏的问题、提高鱼塘投饵效率和投饵均匀度,对适用于水产养殖的水面作业艇-明轮船的航行控制进行研究。为克服明轮船运动过程中航速、航向强耦合,给出改进的明轮船控制系统方案,实现航向、航速之间的解耦,建立明轮船航向系统的动态响应数学模型。根据明轮船的工作特点,对明轮船进行多模自适应控制,用计算机软件进行仿真和实船试验,并与PD（proportion differentiation）控制进行比较。通过仿真和试验的结果,证明所设计的控制器能解除明轮船的耦合效应,船速超调量不超过5%,稳态误差在3%以内,直线航行时的航向误差在3？以内。数据表明多模自...

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Bibliographic Details
Published in农业工程学报 Vol. 33; no. 1; pp. 95 - 101
Main Author 洪剑青 赵德安 孙月平 张军 罗吉
Format Journal Article
LanguageChinese
Published 镇江市高等专科学校机械系,镇江212003%江苏大学电气信息工程学院,镇江,212013 2017
江苏大学电气信息工程学院,镇江212013
Subjects
多模
明轮船
模型
水产养殖
自动控制
自适应
航向
multi-mode
models
automatic control
自适应
heading
模型
明轮船
多模
水产养殖
aquaculture
adaptive
航向
paddlewheel vehicle
自动控制
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Summary:为降低水产养殖行业劳动作业强度和人力成本,解决劳动力日益匮乏的问题、提高鱼塘投饵效率和投饵均匀度,对适用于水产养殖的水面作业艇-明轮船的航行控制进行研究。为克服明轮船运动过程中航速、航向强耦合,给出改进的明轮船控制系统方案,实现航向、航速之间的解耦,建立明轮船航向系统的动态响应数学模型。根据明轮船的工作特点,对明轮船进行多模自适应控制,用计算机软件进行仿真和实船试验,并与PD（proportion differentiation）控制进行比较。通过仿真和试验的结果,证明所设计的控制器能解除明轮船的耦合效应,船速超调量不超过5%,稳态误差在3%以内,直线航行时的航向误差在3？以内。数据表明多模自适应控制方法能够对明轮船航行进行较好的控制,效果优于PD控制。
Bibliography:11-2047/S
Hong Jianqing1,2, Zhao Dean1, Sun Yueping1, Zhang Jun1, Luo Ji1 （1. School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013, China; 2. Department of Mechanical Engineering, Zhenjiang College, Zhenjiang 212003, China）
In order to improve production efficiency, reduce production cost, cope with the growing labor shortage, and improve the uniformity of feeding, the use of smart equipment is an inevitable trend. Due to the limitations of the industry property, the work of aquaculture industry is simple, tedious, and heavy. Using smart equipment substituted for human, it is the most suitable and competitive. In order to carry equipment on water surface and to move, it needs mobile operating platform. Paddlewheel vehicle is in line with the requirements. This paper studied the sailing control of paddlewheel vehicle. The paddlewheel vehicle could go on forward, which relied on both sides of the wheel propulsion device – paddlewheel. Due to the inherent characteristics of the pa
ISSN:1002-6819
DOI:10.11975/j.issn.1002-6819.2017.01.013