Motion Control System Design of Autonomous Monitoring Ship for Lake Water Environment
Jin Ying-lian, Binrui Wang, Yan Tianhong · Jisuanji gongcheng · 2012
This paper designs motion control system of autonomous monitoring ship for lake water environment.The navigation system is designed using GPS and electronic compass,ultrasonic sensors are adopted for avoiding obstacles.The autonomous power supply system using solar power and battery is given.The automatic parking system composed of ultrasound,infrared sensors and mechanical clasp is established.Based on coordinate transformation,the kinematic model of autonomous ship is formulated.The hierarchical controller structure and sliding model control algorithm are designed for the speed control of double motors.Experimental results show that sliding model control can adapt to the mutation interference of flow,and turning is smooth.Autonomous ship can achieve automatic self-shipping berths and energy self-sufficiency.The navigation and control systems are valuable and velocity response time is less than 4 s and large angle rotation response time is less than 13s.