摘要水面无人艇（UnmannedSurfaceVehicle,USV）是一种无人操作的水面舰艇。主要用于执行高风险的海面任务。随着国际海洋局势的发展，水面无人艇凭借其机动性好，灵活可靠，人力物力投入小等诸多优点受到越来越多专家学者的关注。水面无人艇不仅能够保卫国家海域安全，协助士兵完成任务，减小士兵伤亡率，还能协助检测海洋环境，为海洋学家进一步探索海洋提供更多信息，无人艇也可用于民用领域，协助运货，减少人力。因此，对水面无人艇这一课题的研究具有重要的实际意义和使用价值。本文的研究内容分为以下几个部分：首先，通过了解无人艇的操纵原理，搭建六自由度坐标系，分析无人艇在水中的受力情况，建立无人艇的运动数学模型。其次，建立无人艇的运动仿真，并创新性的引入谢菲尔德（SWEM）波浪模型，通过设置风速，浪角等干扰因素使无人艇的运动仿真更贴合实际。采用普通PID控制无人艇，我们设计让无人艇走一个圆圈轨迹，仿真结果出来后发现无人艇的实际运动轨迹与理想运动轨迹基本重合。最后改变无人艇的控制程序，改用模糊PID控制，设计让船走一条直线，最后得出的实际仿真结果更加令人满意，基于普通PID控制的模糊PID控制能更好的控制无人艇，在理想情况下，无人艇的实际运动轨迹与理想运动轨迹重合度更高。证明了模糊PID控制能使水面无人艇具有更良好的动态响应性能，同时也能提高系统的鲁棒性。关键词：无人艇建模；航迹控制；模糊PID航向控制；MATLAB仿真ABSTRACTUnmannedSurfaceVehicle(USV)isanunmannedsurfaceship.Itismainlyusedforhigh-riskseamissions.Withthedevelopmentofinternationalmarinesituation,surfaceUAVhasattractedmoreandmoreattentionofexpertsandscholarsbecauseofitsgoodmaneuverability,flexibilityandreliability,andsmallinvestmentinmanpowerandmaterialresources.Unmannedaerialvehiclecannotonlyprotectnationalseaareasecurity,assistsoldierstocompletetasks,reducethecasualtyrateofsoldiers,butalsohelptodetectthemarineenvironment,providemoreinformationforoceanographerstofurtherexploretheocean.Unmannedaerialvehiclecanalsobeusedincivilareastohelptransportgoodsandreducemanpower.Therefore,theresearchonsurfaceunmannedaerialvehiclehasimportantpracticalsignificanceandapplicationvalue.Theresearchcontentofthispaperisdividedintothefollowingparts:Firstly,byunderstandingtheoperationprincipleofUAV,buildingasix-degree-of-freedomcoordinatesystem,analyzingtheforceofUAVinwater,establishingthemathematicalmodelofUAVmotion.Secondly,themotionsimulationofUAVisestablished,andtheSheffield(SWEM)wavemodelisinnovativelyintroducedtomakethemotionsimulationofUAVmorepracticalbysettingthedisturbancefactorssuchaswindspeedandwaveangle.UsingordinaryPIDtocontrolUAV,wedesignacircletrajectoryforUAV.ThesimulationresultsshowthattheactualtrajectoryofUAVcoincideswiththeidealtrajectory.Finally,thecontrolprogramoftheUAVischangedtousethefuzzyPIDcontroltodesignastraightlinefortheship.Theactualsimulationresultsaremoresatisfactory.ThefuzzyPIDcontrolbasedontheordinaryPIDcontrolcanbettercontroltheUAV.Underidealcircumstances,theactualtrajectoryoftheUAVcoincideswiththeidealtrajectorymoreclosely.ItisprovedthatthefuzzyPIDcontrolcanmakethesurfaceUAVhavebetterdynamicresponseperformanceandimprovetherobustnessofthesystem.Keywords:USVModeling;TrackControl;FuzzyPIDHeadingControl;MATLABSimulation目录第1章绪论...............................................................................................................................................11.1无人艇的研究背景及意义..................................................................................................................21.1.1国外无人艇的研究现状........................
