Motion control of unmanned surface vehicles (USVs) is a crucial issue in sailing performance and navigation costs. The actuators of USVs currently available are mostly a combination of thrusters and rudders. The modeling for USVs with rudderless double thrusters is rarely studied. In this paper, the three degrees of freedom (DOFs) dynamic model and propeller thrust model of this kind of USV were derived and combined. The unknown parameters of the propeller thrust model were reduced from six to two. In the three-DOF model, the propulsion of the USV was completely provided by the resultant force generated by double thrusters and the rotational moment was related to the differential thrust. It combined the propeller thrust model to represent the thrust in more detail. We performed a series of tests for a 1.5 m long, 50 kg USV, in order to obtain the model parameters through system identification. Then, the accuracy of the modeling and identification results was verified by experimental testing. Finally, based on the established model and the proportional derivative+line of sight (PD+LOS) control algorithm, the path-following control of the USV was achieved through simulations and experiments. All these demonstrated the validity and practical value of the established model.
展开▼
机译：无人水面车辆（USV）的运动控制是航行性能和导航成本中的关键问题。当前可用的无人飞行器的致动器主要是推进器和方向舵的组合。很少研究无舵双推进器的无人飞行器建模。本文推导并结合了这种USV的三自由度动力学模型和螺旋桨推力模型。螺旋桨推力模型的未知参数从六个减少到两个。在三自由度模型中，USV的推进完全由双推力器产生的合力提供，旋转力矩与推力差有关。它结合了螺旋桨推力模型来更详细地表示推力。为了通过系统识别获得模型参数，我们对1.5 m长，50 kg USV进行了一系列测试。然后，通过实验测试验证了建模和辨识结果的准确性。最后，基于所建立的模型和比例微分+视线（PD + LOS）控制算法，通过仿真和实验实现了USV的路径跟踪控制。这些都证明了所建立模型的有效性和实用价值。
展开▼
