小型无人艇集成控制系统设计与实验研究

针对传统无人艇控制系统集成度低、可靠性差、通信距离有限等问题和在运动控制中存在的艇身水动力系数不确定性，加上外界风浪流的干扰等非线性因素，设计开发了一种小型无人艇集成控制系统。首先详细阐述了该集成控制系统的硬件结构、软件工作模式、控制模型及运动控制算法，使用 Matlab/simulink工具箱进行速度、航向及深度的运动控制仿真实验。然后以自研的无人艇样机为实验对象进行下水实验。最终计算机仿真和实物下水试验结果表明，所设计的运动控制器不仅能实现艇上各传感器的数据采集与通信功能，下达和反馈运动控制指令的功能，也可以在一定外界干扰下跟踪运动控制中的期望目标，实现控制要求。

Design and experience of the small unmanned surface vehicle integrated control system

Aiming at the shortcomings existing in the traditional Unmanned Surface Vehicle (USV) control system, such as low integrated, poor reliability, limited in communication distance, and wide variations in USV hydrodynamiccoeffi-cients and disturbance, a Integrated Control System is designed and purposed for the kind of small size USV. First, elaborate the structure of the hardware, operating modes of the control software, USV mathematical model and motion controlal-gorithm of the integrated motion system, the USV motion control system and physical simulation are conducted in Matlab/simulink to test the stability and efficiency of the integrated control system. Finally, the results of simulation and a field trial in a lake show that the integrated control system can not only achieve collect sensors data and give controlinstruc-tions by communicate the host control system, but also can track the desired target and is insensitive to the changes of theun-matchable model perturbation and wave interference, which achieve the control requirements.