Chinese Journal of Ship Research, Volume. 19, Issue 1, 90(2024)
Design and experiment of heading and speed control system of unmanned surface vehicle based on Type-2 fuzzy control
Figures & Tables(12)
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Table 1. Key parameters for Zhixun No.1 USV
View tableView in ArticleTable 1. Key parameters for Zhixun No.1 USV
参数 数值 艇长/m 3.98 艇宽/m 2.00 型深/m 0.70 设计吃水/m 0.25 质量/kg 1 000 最高航速/kn 8 推进器最大转速/(r·min−1) 1 700
Table 2. Fuzzy control rule table of
\begin{document}${\delta _{\rm{r}}}$\end{document} View tableView in ArticleTable 2. Fuzzy control rule table of
\begin{document}${\delta _{\rm{r}}}$\end{document} $ \Delta \dot \varphi $ $ \Delta \varphi $ NB NM NS ZE PS PM PB NB NB NB NB NB NM NS ZE NM NB NB NB NM NS ZE PS NS NB NB NM NS ZE PS PM ZE NB NM NS ZE PS PM PB PS NM NS ZE PS PM PB PB PM NS ZE PS PM PB PB PB PB ZE PS PM PB PB PB PB
Table 3. Results of parameter identification via forward motion response model
View tableView in ArticleTable 3. Results of parameter identification via forward motion response model
油门开度和转速 /（r·min−1） 稳定航速 /（m·s−1） $ {a}_{u} $ $ {b}_{u} $ 50/730 2.0 −0.371 9 0.015 4 70/1 015 2.4 −0.434 8 0.015 1 90/1 245 2.7 −0.658 8 0.019 6 100/1 360 2.8 −0.815 2 0.022 9 127/1 650 3.1 −0.657 4 0.022 3
Table 4. Results of
K -value identification for Zhixun No.1 USVView tableView in ArticleTable 4. Results of
K -value identification for Zhixun No.1 USV舵角/（°） 参数 不同油门开度下的K值 50 60 80 100 10 航速/（m·s−1） 1.942 2.112 2.378 2.671 角速度/((°)·s−1) 8.162 8.509 10.523 13.059 K值 −0.556 −0.603 −0.741 −0.840 20 航速/（m·s−1） 1.703 1.770 2.142 2.391 角速度/((°)·s−1) 13.293 14.452 17.148 19.435 K值 −0.451 −0.485 −0.560 − 25 航速（m·s−1） 1.544 1.695 2.059 2.265 角速度/((°)·s−1) 16.491 18.742 21.302 22.344 K值 −0.434 −0.401 − − 30 航速/（m·s−1） 1.335 1.619 1.824 2.127 角速度/((°)·s−1) 20.493 22.032 23.964 27.165 K值 −0.420 −0.330 − −
Table 5. Results of
T -value identification for Zhixun No.1 USVView tableView in ArticleTable 5. Results of
T -value identification for Zhixun No.1 USV舵角和艏向角/（º） 不同油门开度和航速下的T值/（m·s−1） 60/2.154 80/2.464 10/35 0.045 0.173 20/35 0.064 0.038 30/35 0.145 0.555 10或35/35 0.294 0.530
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Shu HE, Yingjun XIONG, Lingjun XIAO, Tao LEI, Man ZHU. Design and experiment of heading and speed control system of unmanned surface vehicle based on Type-2 fuzzy control[J]. Chinese Journal of Ship Research, 2024, 19(1): 90
Paper Information
Category: Research Articles
Received: Aug. 22, 2022
Accepted: --
Published Online: Mar. 18, 2025
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