CN109669347A - Unmanned ship rotating speed differential anti-rolling stability-increasing system and method - Google Patents
Unmanned ship rotating speed differential anti-rolling stability-increasing system and method Download PDFInfo
- Publication number
- CN109669347A CN109669347A CN201811476597.1A CN201811476597A CN109669347A CN 109669347 A CN109669347 A CN 109669347A CN 201811476597 A CN201811476597 A CN 201811476597A CN 109669347 A CN109669347 A CN 109669347A
- Authority
- CN
- China
- Prior art keywords
- roll
- yaw rate
- angular velocity
- rudder
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005096 rolling process Methods 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 230000003416 augmentation Effects 0.000 claims abstract description 12
- 230000001360 synchronised effect Effects 0.000 claims abstract description 7
- 239000007787 solid Substances 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 238000009790 rate-determining step (RDS) Methods 0.000 claims 1
- 230000000087 stabilizing effect Effects 0.000 abstract 2
- 238000004364 calculation method Methods 0.000 description 7
- 239000003381 stabilizer Substances 0.000 description 7
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
- G05B13/024—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a parameter or coefficient is automatically adjusted to optimise the performance
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a system and a method for stabilizing and stabilizing unmanned ship by differential rotation speed, which comprises a propelling part, a propelling control part, a tail rudder part and a tail rudder control part, wherein the propelling part comprises a left propeller thruster, a left driving mechanism, a right propeller thruster and a right driving mechanism; the propulsion control part comprises a rolling angular rate gyro, a rolling angular rate commander and a rolling angular rate controller and is used for increasing stability and controlling rolling; the tail rudder part comprises a left rudder, a left steering engine, a right rudder and a right steering engine, and the left rudder and the right rudder synchronously deflect to generate a yawing moment; the tail vane control part comprises a yaw rate gyro, a yaw rate commander and a yaw rate controller and is used for yaw stability augmentation and control. The invention takes the differential rotation speed of the double propeller propellers and the synchronous deflection of the double rudder surfaces as the anti-rolling and stability-increasing modes of the unmanned ship, and can improve the rolling-yawing operation quality.
Description
Technical field
Subtract the present invention relates to a kind of unmanned boat and shake stability augmentation system and method, is mainly used in unmanned boat control technology field,
The handling quality of unmanned boat can be improved.
Background technique
As a kind of unmanned marine carrying platform, high speed unmanned boat can be undertaken in ocean the high speed of a ship or plane, long endurance, it is low at
Originally, a wide range of, non-maintaining scientific investigation and military mission.Therefore high speed unmanned boat has extremely wide in military and civilian field
General application prospect, as biological study, hydrological observation, sea chart drafting, environmental monitoring, communication relaying, resource exploration, territorial waters are patrolled
Patrol, smuggle drug law enforcement, submarine tracking, information gathering and to warship attack etc. tasks.
In order to reduce the resistance of high speed unmanned boat, its usual kayak body is the elongated bodily form.Therefore high speed unmanned boat rotary inertia
Small, lateral stability is poor.It is not only easy to appear and waves phenomenon, influence platform stable；And it is easy under sharp turn and high wind conditions
It turns on one's side, causes major accident.
For the handling quality for improving high speed unmanned boat, subtracting of generalling use shake increase steady measure include: catamaran, bilge keelson,
Stabilizer, tank stabilizer etc..Catamaran can enhance the stability of ship, but can dramatically increase the width of unmanned boat, be unfavorable for
Mother ship carrier carries；Bilge keelson is widely applied simple passive stabilizer, cannot provide and actively subtract the measure of shaking, and will increase boat
Row resistance；Stabilizer is a kind of active stabilizer, needs to install stabilizer and its steering engine on the outside of kayak body, increase manufacture at
Sheet and system complexity；Tank stabilizer subtracts and shakes by installing water tank realization inside hull, but takes up an area that big, power consumption is high, now
Less use.
In order to improve the handling quality of high speed unmanned boat, proposes the bis- tail vanes coordinations of twin screw-and subtract to shake and increase steady method.This
Twin-propeller reaction torque is utilized in invention, is subtracted by rotational speed difference generation and shakes torque, and it is steady to realize that angular velocity in roll increases；Using double
Tail vane generates yawing, not only overcomes yawing caused by twin screw rotational speed difference, while realizing that yaw rate increases
Surely.It is the configuration of the present invention is simple, light-weight, low in energy consumption compared with traditional subtracting shakes and increase steady method, it is carried convenient for high speed unmanned boat.
Summary of the invention
The technical problems to be solved by the present invention are: in order to overcome in the prior art unmanned boat rotary inertia it is small, it is laterally steady
Qualitative difference, the deficiency easily turned on one's side, the present invention, which provides a kind of unmanned boat rotational speed difference and subtracts, shakes stability augmentation system and method, improves nobody
The handling quality of ship.
The present invention solves its technical problem technical solution to be taken: a kind of unmanned boat rotational speed difference, which subtracts, shakes the steady system of increasing
System, including promotion part, Solid rocket engine portion, tail vane portion and tail vane control unit, wherein
Promotion part includes left-hand airscrew propeller, left driving mechanism, right-hand screw paddle propeller and right driving mechanism, and is had:
The left driving mechanism drives left-hand airscrew propeller, and the right driving mechanism drives right-hand screw paddle propeller, institute
Left-hand airscrew propeller and right-hand screw paddle propeller direction of rotation are stated on the contrary, while generating thrust, passes through rotational speed difference movable property
Raw rolling moment；
Solid rocket engine portion includes angular velocity in roll gyro, angular velocity in roll instruction device and angular velocity in roll controller, and is had:
Angular velocity in roll instruction device and angular velocity in roll controller are sequentially connected to promotion part, and angular velocity in roll gyro is connected to roll angle
Speed control；
Tail vane portion includes left rudder, left rudder machine, right standard rudder and right standard rudder machine, and is had: for driving left rudder, right standard rudder machine is used for left rudder machine
Right standard rudder is driven, port and starboard synchronous deflection generates yawing jointly；
Tail vane control unit includes yaw rate gyro, yaw rate instruction device and yaw rate controller, and is had:
Yaw rate instruction device and yaw rate controller are sequentially connected to be connected to yaw with tail vane portion, yaw rate gyro
Angular rate control unit.
A kind of unmanned boat rotational speed difference, which subtracts to shake, increases steady method, subtracts including above-mentioned unmanned boat and shakes stability augmentation system, further includes rolling
Tarnsition velocity increases steady and control and yaw rate increases surely and the step of control, wherein
Angular velocity in roll increases surely and the specific steps of control include:
Angular velocity in roll instruction device is connected with host computer, generates roll angle according to the roll angle error e φ that host computer provides
Speed command uP, and it is sent to angular velocity in roll controller, wherein uP calculation formula are as follows:
UP=Kφeφ (1)
Wherein, KφIt is command factor.
Meanwhile the angular velocity in roll P of angular velocity in roll gyro detection unmanned boat, and it is sent to angular velocity in roll controller.
Then, angular velocity in roll controller instructs uP and angular velocity in roll P according to angular velocity in roll, calculates angular velocity in roll
Error e P；Angular velocity in roll controller generates rotational speed difference increment control algorithm according to angular velocity in roll error e P and instructs u Δ Ω, thus
Obtain the incremental speed control instruction u Ω of left-hand airscrew propellerLWith the incremental speed control instruction u of right-hand screw paddle propeller
ΩR, and u ΩLWith u ΩRIt is equal in magnitude, it is contrary；Relevant calculation formula are as follows:
Wherein,It is control proportionality coefficient；P is the roll angle speed that angular velocity in roll gyro detects
Degree；ΩL0And ΩR0It is left-hand airscrew propeller and the original revolving speed of right-hand screw paddle propeller respectively；uΔΩLWith u Δ ΩRIt is width
It is worth differential increment control algorithm instruction identical, that symbol is opposite, and is sent to the left driving mechanism and right driving mechanism of promotion part.
Left driving mechanism and right driving mechanism are respectively according to u Δ ΩLWith u Δ ΩR, drive left-hand airscrew propeller and right spiral shell
Rotation paddle propeller reaches corresponding revolving speed ΩLAnd ΩR；
Due to square Ω of propeller torque τ and revolving speed2It is directly proportional, therefore pushed away in left-hand airscrew propeller and right-hand screw paddle
In the case where generating differential revolving speed into device, the rolling moment L and corresponding angular velocity in roll P to hull, calculation formula can produce
Are as follows:
Wherein, I is the rolling moment of inertia of unmanned boat, τLAnd τRIt is that left-hand airscrew propeller and right-hand screw paddle promote respectively
The reaction torque of device；By the revolving speed Ω for changing left-hand airscrew propellerLWith the revolving speed Ω of right-hand screw paddle propellerR, adjustable ship
The rolling moment L of body and corresponding angular velocity in roll P, so that realization is steady to the increasing of hull angular velocity in roll P and controls.
However in the revolving speed Ω for changing left-hand airscrew propellerLWith the revolving speed Ω of right-hand screw paddle propellerRDuring, meeting
Cause the thrust of left-hand airscrew propeller and right-hand screw paddle propeller to occur differential, and then generates unnecessary yawing NΩ；
In order to overcome the yawing NΩInfluence, need to cooperate with and be controlled using tail vane, further include that yaw rate increases steady and control therefore
System.
Yaw rate increases surely and the specific steps of control include:
Yaw rate instruction device is connected with host computer, generates yaw angle speed according to the yaw angle error e ψ that host computer provides
Degree instruction uR, and it is sent to yaw rate controller, the calculation formula of uR are as follows:
UR=Kψeψ (4)
Wherein, KψIt is command factor.
Meanwhile the yaw rate R of yaw rate gyro detection unmanned boat, and it is sent to yaw rate controller.
Then, yaw rate controller instructs uR and yaw rate R according to yaw rate, calculates yaw rate
Error e R；Then, yaw rate controller generates tail vane synchronously control according to yaw rate error eR and instructs u Θ, thus
Obtain left rudder control instruction u ΘLWith right standard rudder control instruction u ΘR, and left rudder control instruction u ΘLWith right standard rudder control instruction u ΘRGreatly
Small equal, direction is identical, formula are as follows:
Wherein,It is control proportionality coefficient, R is the yaw angle speed that yaw rate gyro detects
Degree, u ΘLWith u ΘRIt is identical rudder face control instruction.
Yaw rate controller is by u ΘLWith u ΘRIt is sent to the left rudder machine and right standard rudder machine in tail vane portion；In u ΘLWith u ΘR
Under the action of, port and starboard synchronous deflection generates yawing N and corresponding yaw rate R, realizes yaw rate
Increase steady and control.
Left spiral shell is overcome while angular velocity in roll is increased surely and controlled by coordinated control promotion part and tail vane portion
Revolve the yawing disturbance that paddle propeller and right-hand screw paddle propeller rotational speed difference generate, and realize yaw rate increase surely and
Control.
The beneficial effects of the present invention are: a kind of unmanned boat provided by the invention, which subtracts, shakes stability augmentation system and method, pass through utilization
The reaction torque of left-hand airscrew propeller and right-hand screw paddle propeller realizes that the increasing to unmanned boat rolling movement is steady and controls；Pass through
Using the yawing of port and starboard, the yaw rate for overcoming left-hand airscrew propeller and right-hand screw paddle propeller to generate is disturbed
It is dynamic, while generating desired yaw rate；Dual-propeller thruster and Twin Rudders face is applied in combination as unmanned boat in the present invention
Subtract and shake that increasing is steady and control mode, subtract shake increase steady while, desired yaw rate can be generated, improve the manipulation product of unmanned boat
Matter；It is shaken compared with increasing is steady and control method with traditional subtracting, it is excellent that there are also principles is simple, easy to adjust by the present invention, adaptation range is wide
Point.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is that unmanned boat rotational speed difference subtracts and shakes the rearview that stability augmentation system and method are carried on unmanned boat.
Fig. 2 is that unmanned boat rotational speed difference subtracts and shakes the side view that stability augmentation system and method are carried on unmanned boat.
Fig. 3 is that unmanned boat rotational speed difference subtracts the flow chart for shaking stability augmentation system and method.
In figure: 1. unmanned boats, 2. left-hand airscrew propellers, 21. left driving mechanisms, 3. right-hand screw paddle propellers, 31. right drives
Motivation structure, 4. left rudders, 41. left rudder machines, 5. right standard rudders, 51. right standard rudder machines, 6. angular velocity in roll gyros, the instruction of 61. angular velocity in roll
Device, 62. angular velocity in roll controllers, 7. yaw rate gyros, 71. yaw rate instruction devices, the control of 72. yaw rates
Device.
Specific embodiment
Presently in connection with attached drawing, the present invention is described in detail.This figure is simplified schematic diagram, is only illustrated in a schematic way
Basic structure of the invention, therefore it only shows the composition relevant to the invention.
As depicted in figs. 1 and 2, a kind of unmanned boat rotational speed difference of the invention, which subtracts, shakes stability augmentation system, and main includes that setting exists
Promotion part, Solid rocket engine portion, tail vane portion and four parts of tail vane control unit on unmanned boat 1, Solid rocket engine portion control promotion part,
Tail vane control unit controls tail vane portion, in which:
Promotion part, including left-hand airscrew propeller 2, left driving mechanism 21, right-hand screw paddle propeller 3 and right driving mechanism
31, and have:
The left driving mechanism 21 drives left-hand airscrew propeller 2, and the right driving mechanism 31 drives right-hand screw paddle to promote
Device 3；Both left-hand airscrew propeller 2 and right-hand screw paddle propeller 3 direction of rotation on the contrary, while generating thrust, by turn
Speed difference is dynamic to can produce rolling moment.
Solid rocket engine portion includes angular velocity in roll gyro 6, angular velocity in roll instruction device 61 and angular velocity in roll controller 62,
And have: angular velocity in roll instruction device 61 and angular velocity in roll controller 62 are sequentially connected to promotion part, and angular velocity in roll gyro 6 connects
It is connected to angular velocity in roll controller 62.
Tail vane portion includes left rudder 4, left rudder machine 41, right standard rudder 5 and right standard rudder machine 51, and is had: left rudder machine 41 is used to drive left rudder 4,
For right standard rudder machine 51 for driving right standard rudder 5,5 synchronous deflection of left rudder 4 and right standard rudder generates yawing jointly.
Tail vane control unit includes yaw rate gyro 7, yaw rate instruction device 71 and yaw rate controller 72,
And have: yaw rate instruction device 71 and yaw rate controller 72 are sequentially connected to and tail vane portion, yaw rate gyro 7
It is connected to yaw rate controller 72.
As shown in figure 3, a kind of unmanned boat rotational speed difference, which subtracts to shake, increases steady method, subtracts including above-mentioned unmanned boat 1 and shake the steady system of increasing
System further includes that angular velocity in roll increases steady and control and yaw rate increases surely and the step of control, wherein
Angular velocity in roll increases surely and the specific steps of control include:
Angular velocity in roll instruction device 61 is connected with host computer, generates rolling according to the roll angle error e φ that host computer provides
Angular speed instructs uP, and is sent to angular velocity in roll controller 62, wherein uP calculation formula are as follows:
UP=Kφeφ (1)
Wherein, KφIt is command factor.
Meanwhile angular velocity in roll gyro 6 detects the angular velocity in roll P of unmanned boat 1, and is sent to angular velocity in roll controller
62。
Then, angular velocity in roll controller 62 instructs uP and angular velocity in roll P according to angular velocity in roll, calculates roll angle speed
Spend error e P；Angular velocity in roll controller 62 generates rotational speed difference increment control algorithm according to angular velocity in roll error e P and instructs u Δ Ω,
To obtain the incremental speed control instruction u Ω of left-hand airscrew propeller 2LIt is controlled with the incremental speed of right-hand screw paddle propeller 3
Instruct u ΩR, and u ΩLWith u ΩRIt is equal in magnitude, it is contrary；Relevant calculation formula are as follows:
Wherein,It is control proportionality coefficient；P is the roll angle speed that angular velocity in roll gyro 6 detects
Degree；ΩL0And ΩR0It is left-hand airscrew propeller 2 and the original revolving speed of right-hand screw paddle propeller 3 respectively；uΔΩLWith u Δ ΩRIt is
The differential increment control algorithm instruction that amplitude is identical, symbol is opposite, and it is sent to the left driving mechanism 21 and right driving mechanism of promotion part
31。
Left driving mechanism 21 and right driving mechanism 31 are respectively according to u Δ ΩLWith u Δ ΩR, drive 2 He of left-hand airscrew propeller
Right-hand screw paddle propeller 3 reaches corresponding revolving speed ΩLAnd ΩR；
Due to square Ω of propeller torque τ and revolving speed2It is directly proportional, therefore in left-hand airscrew propeller 2 and right-hand screw paddle
In the case that propeller 3 generates differential revolving speed, the rolling moment L and corresponding angular velocity in roll P to hull can produce, calculate public
Formula are as follows:
Wherein, I is the rolling moment of inertia of unmanned boat 1, τLAnd τRIt is that left-hand airscrew propeller 2 and right-hand screw paddle push away respectively
Into the reaction torque of device 3；By the revolving speed Ω for changing left-hand airscrew propeller 2LWith the revolving speed Ω of right-hand screw paddle propeller 3R, can be with
The rolling moment L and corresponding angular velocity in roll P of hull are adjusted, so that realization is steady to the increasing of hull angular velocity in roll P and controls.
However in the revolving speed Ω for changing left-hand airscrew propeller 2LWith the revolving speed Ω of right-hand screw paddle propeller 3RDuring,
The thrust appearance that will lead to left-hand airscrew propeller 2 and right-hand screw paddle propeller 3 is differential, and then generates unnecessary yawing
NΩ；In order to overcome the yawing NΩInfluence, need to cooperate with and be controlled using tail vane, therefore, further include yaw rate increase it is steady
And control.
Yaw rate increases surely and the specific steps of control include:
Yaw rate instruction device 71 is connected with host computer, generates yaw angle according to the yaw angle error e ψ that host computer provides
Speed command uR, and it is sent to yaw rate controller 72, the calculation formula of uR are as follows:
UR=Kψeψ (4)
Wherein, KψIt is command factor.
Meanwhile yaw rate gyro 7 detects the yaw rate R of unmanned boat 1, and is sent to yaw rate controller
72。
Then, yaw rate controller 72 instructs uR and yaw rate R according to yaw rate, calculates yaw angle speed
Spend error e R；Then, yaw rate controller 72 generates tail vane synchronously control according to yaw rate error eR and instructs u Θ,
To obtain 4 control instruction u Θ of left rudderLWith 5 control instruction u Θ of right standard rudderR, and 4 control instruction u Θ of left rudderLRefer to the control of right standard rudder 5
Enable u ΘREqual in magnitude, direction is identical, formula are as follows:
Wherein,It is control proportionality coefficient, R is the yaw angle speed that yaw rate gyro 7 detects
Degree, u ΘLWith u ΘRIt is identical rudder face control instruction.
Yaw rate controller 72 is by u ΘLWith u ΘRIt is sent to the left rudder machine 41 and right standard rudder machine 51 in tail vane portion；In u ΘL
With u ΘRUnder the action of, 5 synchronous deflection of left rudder 4 and right standard rudder generates yawing N and corresponding yaw rate R, realizes partially
The angular speed that navigates increases steady and control.
Left spiral shell is overcome while angular velocity in roll is increased surely and controlled by coordinated control promotion part and tail vane portion
The yawing disturbance that paddle propeller 2 and 3 rotational speed difference of right-hand screw paddle propeller generate is revolved, and realizes yaw rate and increases surely
And control.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff
Various changes and amendments can be carried out without departing from the scope of the present invention completely.The technical scope of this invention is not
The content being confined on specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (2)
1. a kind of unmanned boat rotational speed difference, which subtracts, shakes stability augmentation system, it is characterised in that: including promotion part, Solid rocket engine portion, tail vane portion
With tail vane control unit, wherein
Promotion part includes left-hand airscrew propeller (2), left driving mechanism (21), right-hand screw paddle propeller (3) and right driving mechanism
(31), and have:
The left driving mechanism (21) drives left-hand airscrew propeller (2), and right driving mechanism (31) the driving right-hand screw paddle pushes away
Into device (3), the left-hand airscrew propeller (2) and right-hand screw paddle propeller (3) direction of rotation are on the contrary, generating the same of thrust
When, rolling moment is generated by rotational speed difference；
Solid rocket engine portion includes angular velocity in roll gyro (6), angular velocity in roll instruction device (61) and angular velocity in roll controller
(62), and have: angular velocity in roll instruction device (61) and angular velocity in roll controller (62) are sequentially connected to promotion part, roll angle speed
Degree gyro (6) is connected to angular velocity in roll controller (62)；
Tail vane portion includes left rudder (4), left rudder machine (41), right standard rudder (5) and right standard rudder machine (51), and is had: left rudder machine (41) is for driving
Left rudder (4), for right standard rudder machine (51) for driving right standard rudder (5), left rudder (4) and right standard rudder (5) synchronous deflection generate yawing jointly；
Tail vane control unit includes yaw rate gyro (7), yaw rate instruction device (71) and yaw rate controller
(72), and have: yaw rate instruction device (71) and yaw rate controller (72) are sequentially connected to and tail vane portion, yaw angle
Rate gyro unit (7) is connected to yaw rate controller (72).
2. a kind of unmanned boat rotational speed difference, which subtracts to shake, increases steady method, it is characterised in that: including unmanned boat described in claim 1 (1)
Rotational speed difference, which subtracts, shakes stability augmentation system, further includes that steady angular velocity in roll increasing and control and yaw rate increase steady and rate-determining steps,
Wherein,
The angular velocity in roll increases surely and the specific steps of control include:
Angular velocity in roll instruction device (61) is connected with host computer, generates roll angle according to the roll angle error e φ that host computer provides
Speed command uP, and it is sent to angular velocity in roll controller (62)；
Meanwhile the angular velocity in roll P of angular velocity in roll gyro (6) detection unmanned boat (1), and it is sent to angular velocity in roll controller
(62)；
Then, angular velocity in roll controller (62) instructs uP and angular velocity in roll P according to angular velocity in roll, calculates angular velocity in roll
Error e P；Angular velocity in roll controller (62) generates rotational speed difference increment control algorithm according to angular velocity in roll error e P and instructs u Δ Ω,
To obtain the incremental speed control instruction u Ω of left-hand airscrew propeller (2)LWith the incremental speed of right-hand screw paddle propeller (3)
Control instruction u ΩR, and u ΩLWith u ΩRIt is equal in magnitude, it is contrary；
Angular velocity in roll controller (62) is by u ΩLWith u ΩRIt is sent respectively to left driving mechanism (21) and right driving mechanism (31)；
Under the action of differential increment control algorithm instructs u Δ Ω, left-hand airscrew propeller (2) and right-hand screw paddle propeller (3) are generated controllably
Rolling moment L and corresponding angular velocity in roll P, realize angular velocity in roll and increase steady and control；
The yaw rate increases surely and the specific steps of control include:
Yaw rate instruction device (71) is connected with host computer, generates yaw angle speed according to the yaw angle error e ψ that host computer provides
Degree instruction uR, and it is sent to yaw rate controller (72)；
Meanwhile the yaw rate R of yaw rate gyro (7) detection unmanned boat (1), and it is sent to yaw rate controller
(72)；
Then, yaw rate controller (72) instructs uR and yaw rate R according to yaw rate, calculates yaw rate
Error e R；Then, yaw rate controller (72) generates tail vane synchronously control according to yaw rate error eR and instructs u Θ,
To obtain left rudder (4) control instruction u ΘLWith right standard rudder (5) control instruction u ΘR, and left rudder (4) control instruction u ΘLWith right standard rudder
(5) control instruction u ΘREqual in magnitude, direction is identical；
Yaw rate controller (72) is by u ΘLWith u ΘRIt is sent to the left rudder machine (41) and right standard rudder machine (51) in tail vane portion；In u
ΘLWith u ΘRUnder the action of, left rudder (4) and right standard rudder (5) synchronous deflection generate yawing N and corresponding yaw rate R, real
Show yaw rate and increases steady and control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811476597.1A CN109669347B (en) | 2018-12-05 | 2018-12-05 | Unmanned ship rotating speed differential stabilization system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811476597.1A CN109669347B (en) | 2018-12-05 | 2018-12-05 | Unmanned ship rotating speed differential stabilization system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109669347A true CN109669347A (en) | 2019-04-23 |
| CN109669347B CN109669347B (en) | 2024-04-02 |
Family
ID=66144218
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811476597.1A Active CN109669347B (en) | 2018-12-05 | 2018-12-05 | Unmanned ship rotating speed differential stabilization system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109669347B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111114733A (en) * | 2019-12-26 | 2020-05-08 | 中国科学院光电研究院 | High-altitude airship and yaw control method thereof |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4994505B1 (en) * | 2011-03-15 | 2012-08-08 | 三井造船株式会社 | Marine engine control apparatus and method |
| KR101184587B1 (en) * | 2011-12-28 | 2012-09-26 | 한국과학기술연구원 | Unmanned boat operating system for monitoring of water resources and the operating method thereof |
| CN103645734A (en) * | 2013-12-02 | 2014-03-19 | 广州市健坤网络科技发展有限公司 | Automatic course control system and method of rudderless ship |
| CN103640675A (en) * | 2013-12-18 | 2014-03-19 | 江苏科技大学 | Amphibious unmanned surface vehicle with three bodies |
| CN105857575A (en) * | 2016-04-11 | 2016-08-17 | 中国空气动力研究与发展中心计算空气动力研究所 | Control surface suitable for course autostability and control of high-aspect-ratio flying wing arranging airplane |
| CN106094852A (en) * | 2016-06-29 | 2016-11-09 | 南京信息工程大学 | A kind of control system keeping unmanned boat attitude stabilization |
| CN106143801A (en) * | 2016-07-29 | 2016-11-23 | 武汉理工大学 | A kind of unmanned boat utilizing light wave complementary duty |
| CN106527133A (en) * | 2016-11-11 | 2017-03-22 | 哈尔滨工程大学 | Multi-paddle coordination control distribution method for ship |
| CN108427416A (en) * | 2018-04-04 | 2018-08-21 | 上海华测导航技术股份有限公司 | A kind of unmanned boat differential automatic steering control system and control method |
| CN209433202U (en) * | 2018-12-05 | 2019-09-24 | 山东智翼航空科技有限公司 | Unmanned ship rotation speed differential stabilization system |
-
2018
- 2018-12-05 CN CN201811476597.1A patent/CN109669347B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4994505B1 (en) * | 2011-03-15 | 2012-08-08 | 三井造船株式会社 | Marine engine control apparatus and method |
| KR101184587B1 (en) * | 2011-12-28 | 2012-09-26 | 한국과학기술연구원 | Unmanned boat operating system for monitoring of water resources and the operating method thereof |
| CN103645734A (en) * | 2013-12-02 | 2014-03-19 | 广州市健坤网络科技发展有限公司 | Automatic course control system and method of rudderless ship |
| CN103640675A (en) * | 2013-12-18 | 2014-03-19 | 江苏科技大学 | Amphibious unmanned surface vehicle with three bodies |
| CN105857575A (en) * | 2016-04-11 | 2016-08-17 | 中国空气动力研究与发展中心计算空气动力研究所 | Control surface suitable for course autostability and control of high-aspect-ratio flying wing arranging airplane |
| CN106094852A (en) * | 2016-06-29 | 2016-11-09 | 南京信息工程大学 | A kind of control system keeping unmanned boat attitude stabilization |
| CN106143801A (en) * | 2016-07-29 | 2016-11-23 | 武汉理工大学 | A kind of unmanned boat utilizing light wave complementary duty |
| CN106527133A (en) * | 2016-11-11 | 2017-03-22 | 哈尔滨工程大学 | Multi-paddle coordination control distribution method for ship |
| CN108427416A (en) * | 2018-04-04 | 2018-08-21 | 上海华测导航技术股份有限公司 | A kind of unmanned boat differential automatic steering control system and control method |
| CN209433202U (en) * | 2018-12-05 | 2019-09-24 | 山东智翼航空科技有限公司 | Unmanned ship rotation speed differential stabilization system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111114733A (en) * | 2019-12-26 | 2020-05-08 | 中国科学院光电研究院 | High-altitude airship and yaw control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109669347B (en) | 2024-04-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109799064B (en) | Ship maneuverability hydrodynamic test device and method | |
| CN101342937B (en) | Navigation control method for ship propulsion system | |
| US20150329186A1 (en) | Oscillating foil propulsion system and method for controlling a motion of an oscillating movable foil | |
| EP3464057B1 (en) | Method and control apparatus for operating a marine vessel | |
| US7374130B2 (en) | Method and apparatus for vehicle control using variable blade pitch | |
| CN209433202U (en) | Unmanned ship rotation speed differential stabilization system | |
| CN109292061A (en) | A kind of binary submarine navigation device of bionical swing and propeller hybrid propulsion | |
| CN103640675A (en) | Amphibious unmanned surface vehicle with three bodies | |
| US9022738B1 (en) | Marine propulsion-and-control system implementing articulated variable-pitch propellers | |
| CN112036099A (en) | Method for determining minimum turning radius based on attack angle of sail of sailing boat | |
| Aage et al. | Hydrodynamic manoeuvrability data of a flatfish type AUV | |
| CN209327875U (en) | Unmanned ship rolling-course coordination stability augmentation control system | |
| CN109358495A (en) | Unmanned ship propeller pitch-rotating speed differential stabilization and stabilization system and method | |
| US20080269968A1 (en) | Watercraft position management system & method | |
| CN109669469A (en) | Unmanned ship rolling-course coordination stability augmentation control system and method | |
| CN109669347A (en) | Unmanned ship rotating speed differential anti-rolling stability-increasing system and method | |
| CN105856994B (en) | Aero-propeller vessel oceangoing ship trim self-regulation device | |
| US20190009871A1 (en) | Marine vehicle thruster control method | |
| CN109334940B (en) | Steering control method and system for straight wing rudder | |
| CN114030579B (en) | Unmanned ship stability control method and propulsion device | |
| CN209433201U (en) | Unmanned ship propeller pitch-rotating speed differential stabilization and stabilization system | |
| CN114435576A (en) | Rudderless propulsion ship | |
| AU2022236290A1 (en) | Hydrofoil | |
| CN108973559A (en) | A kind of empty amphibious five body constituents unmanned boat of water | |
| Desai et al. | Augmenting maneuverability of UUVs with cycloidal propellers |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |