Design method of speed controller of direct-current motor-propelled unmanned surface vehicle

Abstract

The invention discloses a design method of a speed controller of a direct-current motor-propelled unmanned surface vehicle. The design method comprises the following steps of S1, establishing a direct-current motor model for propelling the unmanned surface vehicle, a propeller model of the unmanned surface vehicle and a forward speed model of the unmanned surface vehicle; S2, establishing an unmanned surface vehicle model propelled by a direct current motor according to each model in the step S1; S3, according to the uncertain item of the unmanned surface vehicle model propelled by the directcurrent motor, adopting a navigational speed identifier and a rotating speed identifier based on a neural network to approach the uncertain item; and S4, obtaining the uncertain item information fromthe navigational speed identifier and the rotating speed identifier, and designing the speed controller of the direct-current motor-propelled unmanned surface vehicle by adopting a dynamic surface control design method. Compared with an existing unmanned surface vehicle speed controller, the identification device based on the neural network is adopted to approach the uncertainty in the speed dynamics of the direct current motor, the propeller and the unmanned surface vehicle, and the dynamic response speed of an unmanned surface vehicle speed control system is effectively increased.

Description

technical field [0001] The invention relates to the field of motion control of unmanned boats, in particular to a design method for a speed controller of a DC motor propelling an unmanned surface boat. Background technique [0002] Unmanned Surface Vehicle (USV) has extremely high application potential in military, scientific research, commercial and other fields. With the deepening of marine activities, the technology of unmanned surface vehicle has received more and more attention. Good control performance is the basis for safe and reliable application of unmanned boats, among which speed control is an indispensable part. The speed control of the unmanned boat is affected by many factors such as its own shape and size, the wind and waves on the water surface, so the traditional PID control method cannot obtain a good control effect. With the continuous development and improvement of intelligent control theory, more and more novel control methods are applied to the speed c...

AI Technical Summary

Problems solved by technology

[0004]First, most of the existing speed control methods for unmanned surface vehicles do not take into account the control of the electric propulsion part, the control input is torque, and the control of torque is Need to control the motor to complete, making these methods more complicated to implement in practical engineering applications

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