No abstract

This paper describes a new navigational algorithm that combines Artificial Potential Fields with PID controller to realize accurate channel survey, automatic obstacle avoiding, optimal route search et al. A set course can be obtained through this new algorithm and the steering of the unmanned survey ship will be worked out by closed-loop control. In test system, the location of the ship is obtained by GPS, and the error of electric steering gear angle controls PWM pulse signal, which drives servo motor by power amplifying device, thus making the electric steering gear to turn as expected. Communication between upper and lower computer is realized by C language and serial port communication, so as to get parameter information and track images of the ship in a real-time manner. The result shows that the new navigational algorithm more efficient and precise, and can be widely used in fairway surveying engineering.

A study is made about the structure and its mathematical model of FT-PMM. The design of the vector control system (SVPWM) based on the id = 0 control strategy is proposed, which realizes the closed-loop vector control with feedback of speed, current, and position. This method is proved right by Matlab simulation. From a hardware level, the dsPIC30f4011 is used as the core of the system. With the help of the design of the bootstrap power supply of IR2110, the number of power is reduced and the cost is saved. The inverter circuit consists of 3 independent H bridges was used to control each wingding independently in order to enhance the ability of fault tolerance. Through hardware test, the result indicates that this vector control system could satisfy the demands of speed control and stable operation. After Man-made fault is set, the fault-tolerant performance is analyzed and the system is proved to have fault-tolerant capability to a certain extent.