针对采用控制器局域网络(CAN:Controller Area Network)总线的自动操舵系统和采用串口通讯的航海导航设备之间通讯的不匹配问题,设计了一种基于Cortex-M3嵌入式平台的通信转换模块,实现了串口与CAN总线数据的双向转换功能。同时对传统CA...针对采用控制器局域网络(CAN:Controller Area Network)总线的自动操舵系统和采用串口通讯的航海导航设备之间通讯的不匹配问题,设计了一种基于Cortex-M3嵌入式平台的通信转换模块,实现了串口与CAN总线数据的双向转换功能。同时对传统CAN收发器CTM1050存在的信号稳定性不足、波特率精准度低等问题,提出并实现了一种硬件电路的替代方案,提高了数据通讯的时效性和稳定性。基于CAN2.0B扩展帧,设计了自动操舵系统内部CAN总线协议。该协议可根据报文信息优先级分配标识帧,保证了总线数据的有序传输。实验结果表明,该通讯模块功能使用正常且通讯效果良好,具有一定通用性,可在多种需要转换的设备系统上推广使用。展开更多
为克服船舶自动舵实船测试中存在的风险大、调试周期长和费用高的缺点,并且方便科研人员对自动舵控制算法进行研究;以国际标准电子海图为显示平台,采用三自由度的Manoeuvring Mathematical Model Group(MMG)船舶数学模型,设计实现能提...为克服船舶自动舵实船测试中存在的风险大、调试周期长和费用高的缺点,并且方便科研人员对自动舵控制算法进行研究;以国际标准电子海图为显示平台,采用三自由度的Manoeuvring Mathematical Model Group(MMG)船舶数学模型,设计实现能提供与海上实际情况相近的船舶自动舵算法测试仿真系统,并详细说明该系统的构架、功能、控制接口和界面设计。以自抗扰航迹自动舵控制算法为例,在该系统上进行仿真测试,结果表明:该系统对测试自动舵算法的有效性有很大帮助,对自动舵算法的研究很有意义。展开更多
Controller tuning is the correct setting of controller parameters to control complex dynamic systems appropriately and with high accuracy.Therefore,this study addressed the development of a method for tuning the headi...Controller tuning is the correct setting of controller parameters to control complex dynamic systems appropriately and with high accuracy.Therefore,this study addressed the development of a method for tuning the heading controller of an unmanned surface vehicle(USV)based on the backstepping integral technique to enhance the vehicle behavior while tracking a desired position for water monitoring missions.The vehicle self-steering system(autopilot system)is designed theoretically and tested via a simulation.Based on the Lyapunov theory,the stability in the closed-loop system is guaranteed,and the convergence of the heading tracking errors is obtained.In addition,the designed control law is implemented via a microcontroller and tested experimentally in real time.Conclusion,experimental results were carried out to verify the robustness of the designed controller when disturbances and uncertainties are introduced into the system.展开更多
文摘针对采用控制器局域网络(CAN:Controller Area Network)总线的自动操舵系统和采用串口通讯的航海导航设备之间通讯的不匹配问题,设计了一种基于Cortex-M3嵌入式平台的通信转换模块,实现了串口与CAN总线数据的双向转换功能。同时对传统CAN收发器CTM1050存在的信号稳定性不足、波特率精准度低等问题,提出并实现了一种硬件电路的替代方案,提高了数据通讯的时效性和稳定性。基于CAN2.0B扩展帧,设计了自动操舵系统内部CAN总线协议。该协议可根据报文信息优先级分配标识帧,保证了总线数据的有序传输。实验结果表明,该通讯模块功能使用正常且通讯效果良好,具有一定通用性,可在多种需要转换的设备系统上推广使用。
文摘为克服船舶自动舵实船测试中存在的风险大、调试周期长和费用高的缺点,并且方便科研人员对自动舵控制算法进行研究;以国际标准电子海图为显示平台,采用三自由度的Manoeuvring Mathematical Model Group(MMG)船舶数学模型,设计实现能提供与海上实际情况相近的船舶自动舵算法测试仿真系统,并详细说明该系统的构架、功能、控制接口和界面设计。以自抗扰航迹自动舵控制算法为例,在该系统上进行仿真测试,结果表明:该系统对测试自动舵算法的有效性有很大帮助,对自动舵算法的研究很有意义。
文摘Controller tuning is the correct setting of controller parameters to control complex dynamic systems appropriately and with high accuracy.Therefore,this study addressed the development of a method for tuning the heading controller of an unmanned surface vehicle(USV)based on the backstepping integral technique to enhance the vehicle behavior while tracking a desired position for water monitoring missions.The vehicle self-steering system(autopilot system)is designed theoretically and tested via a simulation.Based on the Lyapunov theory,the stability in the closed-loop system is guaranteed,and the convergence of the heading tracking errors is obtained.In addition,the designed control law is implemented via a microcontroller and tested experimentally in real time.Conclusion,experimental results were carried out to verify the robustness of the designed controller when disturbances and uncertainties are introduced into the system.
