摘要： 为提升虾塘巡边投饵作业的效率和可靠性，以差速无人投饲船为研究对象，提出了基于变积分PID姿态控制和边距区间搜索控制动态切换的控制算法。算法在建立差速无人投饲船运动模型和姿态反馈模型的基础上，追踪无人船巡边过程的距离信息和角度信息以保持投饲船巡边的正确姿态。同时，考虑无人船控制的非线性特征，设计了边距区间搜索控制算法，使船体快速的收敛到PID调整范围内，降低了算法的复杂性。通过Matlab仿真分析不同参数和边界下算法的有效性，验证了算法在0~3 m/s的巡边速度下，最大巡边误差可控制在0.3 m，最大角度跟踪误差可控制在9°。研究表明，提出的巡边算法满足虾塘投饲装备巡边指标要求，具有较好的实用价值。

关键词: 差速投饲船, 巡边, 姿态反馈, PID

Abstract: In order to improve the efficiency and reliability of edge-tracking and feeding operation of shrimp ponds, an unmanned differential-speed feeding ship was taken as the research object, and a control algorithm based on variable integral PID attitude control and margin interval search control dynamic switching was proposed. Based on the establishment of the motion model and attitude feedback model of the unmanned differential feed-dropping ship, the algorithm tracks the distance information and angle information of the unmanned ship's side patrol process to maintain the correct attitude of the feed-dropping ship. At the same time, considering the nonlinear characteristics of unmanned ship control, a margin interval search control algorithm is designed to make the hull quickly converge within the PID adjustment range and reduce the complexity of the algorithm. Through Matlab simulation and analysis of the effectiveness of the algorithm under different parameters and boundaries, it is verified that the maximum edge-tracking error can be controlled within 0.3m and the maximum angle tracking error can be controlled at 9° under the edge-tracking speed of 0-3m/s. The research shows that the proposed edge-tracking algorithm meets the patrol index requirements of shrimp pond feeding equipment and has good practical value.

Key words: differential-speed feeding ship, edge-tracking, attitude feedback, PID