Automatic deviation correction method and system for unmanned ship course control

Abstract

The invention relates to the technical field of an unmanned boat, in particular to an unmanned boat course control automatic deviation correcting method and system. The method comprises the following steps that the course deviation is multiplied by the proportion negative constant to proportionally eliminate the deviation; after the course deviation is subjected to differential calculation, then, the differential control proportion negative constant is multiplied; after the integral computation is performed on the course deviation, the differential control proportion negative constant is multiplied. The course deviation is respectively eliminated through proportion, differential and integral; the feedback and action on the system are performed; the goal that the practically output yaw angle infinitely approaches to the preset target yaw angle is achieved; the manual control mode navigation control precision of the unmanned boat is improved; the method and the system are very effective on linear course operation tasks; in application meeting the unmanned boat manual control requirements, the automatic course correction control is merged with the unmanned boat manual control mode; an automatic deviation correction mode based on manual control is created; in addition, the goal of eliminating complicated water area navigation deviation under the condition of not increasing the hardware cost of the unmanned boat is achieved, so that the system and the method provided by the invention are more practical and are easy to use.

Description

technical field [0001] The invention relates to the technical field of unmanned ships, in particular to an automatic deviation correction method and system for heading control of an unmanned ship. Background technique [0002] The course control of the unmanned ship refers to the operation of the direction of the unmanned ship and the output of the throttle control signal through the remote control, so that the unmanned ship can travel according to the control route. [0003] Commonly used processing systems and methods for the manual course control of existing unmanned ships include that after the unmanned ship control system receives the direction and throttle control signals of the manually controlled remote transmitter, it directly converts the direction and throttle input signals into the direction and throttle input signals of the unmanned ship. The direction and throttle motor output of the power control unit part. However, this control does not take into account the...

AI Technical Summary

Problems solved by technology

However, this control does not take into account the water conditions of the unmanned ship and the scene characteristics of the unmanned ship's motor hardware working underwater. As a result, in the actual navigation process, the power control part of the existing unmanned ship is often affected by water currents, weather, etc. Factors cannot accurately implement the route requirements, especially when the straight route is prone to deviation when controlling the course. At the same time, because the motor used for power output of the unmanned ship works underwater, the motor is affected by the water flow. The input and output performance in the remote control mode The characteristics cannot reach a linear ratio, which leads to deviations in the route process. Although the hardware characteristics of the motor are verified by modifying the motor hardware output feedback device to adapt to the underwater scene, the technical difficulty is complicated and the overall cost of the unmanned ship will be increased.

Images