Modeling and Identification of Podded Propulsion Unmanned Surface Vehicle and Its Course Control Research

Dongdong Mu,Yunsheng Fan,Guofeng Wang,Yongsheng Zhao

doi:10.1155/2017/3209451

Dongdong Mu, Yunsheng Fan + Show 2 more

Open Access

https://doi.org/10.1155/2017/3209451

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Abstract

The response model of podded propulsion unmanned surface vehicle (USV) is established and identified; then considering the USV has characteristic of high speed, the course controller with fast convergence speed is proposed. The idea of MMG separate modeling is used to establish three-DOF planar motion model of the podded propulsion USV, and then the model is simplified as a response model. Then based on field experiments, the parameters of the response model are obtained by the method of system identification. Unlike ordinary ships, USV has the advantages of fast speed and small size, so the controller needs fast convergence speed and strong robustness. Based on the theory of multimode control, a fast nonsingular terminal sliding mode (FNTSM) course controller is proposed. In order to reduce the chattering of system, disturbance observer is used to compensate the disturbance to reduce the control gain and RBF neural network is applied to approximate the symbolic function. At the same time, fuzzy algorithm is employed to realize the mode soft switching, which avoids the unnecessary chattering when the mode is switched. Finally the rapidity and robustness of the proposed control approach are demonstrated by simulations and comparison studies.

Highlights

With the development of marine technology, the unmanned surface vehicle (USV) has the advantages of being fast, small volume, low cost, and so on
In order to verify the performance of the fast nonsingular terminal sliding mode (FNTSM) controller, numerical simulations keeping and course tracking for Lanxin USV are carried out
According to MMG separation model theory, the response model of podded propulsion USV is proved to be still in compliance with the Norrbin model, and the parameters of response model are obtained by the method of system identification

Summary

Introduction

With the development of marine technology, the USV has the advantages of being fast, small volume, low cost, and so on. On the basis of considering the input saturation, backstepping is used to design course controller and neural network approximation is employed to solve the problem of model uncertainty [17] As previously mentioned, such as [5,6,7,8,9], there is little research on the identification of response model of podded propulsion ship. The contributions of this paper are that firstly, by analyzing the force acting on the hull and the thrust force of POD, the response model is derived; secondly, on the basis of field experiments, the response model of USV is identified by the method of system identification; according to the characteristics of USV, based on the theory of multimode control and fuzzy weighted idea, a fast convergent course controller is proposed.

USV Modeling

Model Identification

Course Controller

WTŴγ sφ WTh

Numerical Simulations

Conclusions