HEADING AND SPEED JOINT CONTROL OF DOUBLE-PUSH USV BASED ON FUZZY PID

Jian Yuan,∗ Wenxia Zhang,∗∗ Hailin Liu,∗ and Hui Li∗

Keywords

double-push unmanned surface vehicle, speed control, heading con-trol, MOOS-Ivp, fuzzy PID

Abstract

The heading and speed joint control method of double electric propulsion unmanned surface vehicle (USV) based on fuzzy proportion integral differential (PID) is proposed. According to the requirements of joint speed and heading control of double-push unmanned surface vehicle, the functions and system composition of corresponding software modules under MOOS-Ivp architecture are studied, the software modules required to ensure the normal operation of the control system are configured, and the closed-loop control method of heading and speed control based on fuzzy PID is carried out. Further, the closed-loop control module software is compiled according to the system control flow, and the control protocol of lower computer controller and motion controller is designed and carried out in MOOS-Ivp architecture. Finally, the speed control factor of the unmanned surface vehicle is obtained through the shore experiment, and the effectiveness of the proposed fuzzy PID control method is verified by simulation and shore experiment.

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