引用本文:吴恭兴,邹劲,万磊,孙寒冰.喷水推进无人艇的基础运动控制系统设计(英文)[J].控制理论与应用,2010,27(2):257~262.[点击复制]
WU Gong-xing,ZOU Jin,WAN Lei,SUN Han-bing.Design of the basic motion control system for water-jet-propelled unmanned surface vehicle[J].Control Theory and Technology,2010,27(2):257~262.[点击复制]
喷水推进无人艇的基础运动控制系统设计(英文)
Design of the basic motion control system for water-jet-propelled unmanned surface vehicle
摘要点击 2100  全文点击 1906  投稿时间：2009-06-29  修订日期：2009-11-19
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DOI编号  10.7641/j.issn.1000-8152.2010.2.ICTA090844
  2010,27(2):257-262
中文关键词  仿人智能  小脑模型  控制策略  无人艇  喷水推进
英文关键词  human-simulate  cerebella model  control strategy  unmanned surface vehicle  water-jet propulsion
基金项目  supported by the State Security Important Basic Project Research Fund(61311101); the State Natural Science Fundation of China(50579007); the State 863 Fund(2008AA092301); Research Fund from National Defence Key Laboratory of Autonomous Underwater Vehicle Technology(2008003).
作者单位E-mail
吴恭兴* 哈尔滨工程大学 水下机器人技术国防科技重点实验室 wugongxing_163@163.com 
邹劲 哈尔滨工程大学 水下机器人技术国防科技重点实验室  
万磊 哈尔滨工程大学 水下机器人技术国防科技重点实验室  
孙寒冰 哈尔滨工程大学 水下机器人技术国防科技重点实验室  
中文摘要
      针对欠驱动无人艇开展了其基础运动控制策略设计的研究. 首先详细地介绍了喷水推进无人艇的运动控制系统的构成, 并根据喷水推进器推进原理的特点, 可得出该无人艇系统是欠驱动的、快变的非线性耦合系统; 然后根据人类小脑的运动协调功能, 提出基于倒车斗、喷嘴转角和发动机转速协调控制的仿人智能控制策略, 实现了对无人艇的完全运动控制, 提高了其操纵性和灵活性; 并根据该思想设计了无人艇的基础运动控制系统的软件体 系结构. 最后进行了无人艇在各种航行状态下的运动控制仿真试验, 仿真结果表明了该仿人智能运动控制策略的有效性.
英文摘要
      Design of the basic motion control strategy for the under-actuated Unmanned Surface Vehicle (USV) is undertaken. Firstly, the motion control system architecture of the water-jet propelled USV is introduced in detail. According to the characteristic of water-jet propulsion principle, the USV system is an under-actuated, time-varying and nonlinear coupled system. Secondly, simulating the coordination control function of the human cerebella, the human-simulate control strategy is proposed based on the coordination control of astern deflector rotating, nozzle rotating and engine rotation speed. So the full controlling of the surface vehicle in various sailing states is achieved, and its manoeuvrability and agility are improved. Then the software architecture for the control system is designed using this idea. Finally, the USV motion control simulation tests are undertaken in di erent sailing states. And the simulation validates the e ectiveness of the human-simulate control strategy.