梳草船导航控制系统设计与试验

摘要：梳草船已逐步成为河蟹养殖池塘水草管理的重要装备，为实现梳草船运行的自动化，设计开发了一款以风机作为驱动装置的梳草船导航控制系统。针对梳草船设计了一套软硬件控制系统，建立了梳草船运动模型并进行了试验验证，采用航向预估PID控制方法和LOS视圆法实现了梳草船的运动控制与路径跟踪，在实际养殖场进行了航速测试，路径跟踪和水草收割试验。结果表明，在所设计的导航系统控制下，梳草船的最大运行速度可达1.14m/s，PID航向控制方法和LOS视圆法可以准确实现梳草船的路径点跟踪，在天气条件良好的情况下，路径跟踪的平均误差小于0.96m，与人工方式相比，单位时间内水草清理重量提高94.3%，有效降低了水草收割的劳动强度，提高蟹塘水草管理自动化水平。

Design and test on the navigation control system of the aquatic plants comb-collect boat

Abstract: The aquatic plants comb-collect boat has gradually become an important equipment for the management of aquatic plants in river crab breeding ponds. In order to realize the automation of the aquatic plants comb-collect boat, an automatic navigation control system for the grass grooming boat with a fan as the driving device was designed and developed. Firstly, a set of the aquatic plants comb-collect boat software and hardware control system was designed; Then, the dynamic model of the aquatic plants comb-collect boat was established and verified by experiments; Then, the motion control and path tracking of the aquatic plants comb-collect boat were realized by using the heading estimation PID control method and the LOS circle of sight method; finally, the speed test, path tracking and waterweed harvesting experiments were carried out in the farm. The results show that the maximum speed of the aquatic plants comb-collect boat can reach 1.14m/s, the PID heading control method and the LOS circle of sight method can accurately realize the path point tracking of the aquatic plants comb-collect boat, in good weather conditions, the average error of path tracking is less than 0.96m, Compared with the manual method, the cleaning weight per unit time is increased by 94.3%, which effectively reduces the labor intensity of harvesting aquatic plants and improves the automation level of aquatic plant management in crab ponds.