高技术通讯2012，Vol.22Issue(4)：416-422,7.DOI:10.3772/j.issn.1002-0470.2012.04.013
喷水推进型无人水面艇的嵌入式运动控制系统研究
An embedded motion control system for water-jet-propelled unmanned surface vehicles
摘要
Abstract
A study of embedded motion control was conducted to solve the difficulties in design of a control system for an unmanned surface vehicle (USV) caused by the facts that an USV is a strongly nonlinear, uncertain system and its accurate mathematical model is difficult to establish. An embedded motion control system for a certain single water-jet-propelled USV was designed. The architecture of the embedded motion control system was constructed from the aspects of hardware and software. To satisfy the real-time and reliability of data processing of the embedded control system, a α-β-γ filter was incorporated into the S surface controller. The results of the sea trial and the lake trial showed that the proposed controller together with the filter can provide good control performance, and the feasibility and reliability of the embedded control system were also verified.关键词
无人水面艇(USV)/运动控制/嵌入式系统/S面控制/α-β-γ滤波器Key words
unmanned surface vehicle (USV) / motion control/ embedded system/ S surface control/ α-β-γ filter引用本文复制引用
廖煜雷,万磊,庄佳园..喷水推进型无人水面艇的嵌入式运动控制系统研究[J].高技术通讯,2012,22(4):416-422,7.基金项目
863计划(2008AA092301),国家自然科学基金(50909025/E091002)和水下智能机器人技术重点实验室研究基金(HEUFT08017)资助项目. （2008AA092301）
