Unmanned ship movement control system and method

Abstract

The invention relates to an unmanned ship movement control system and method. In the control system, a control module comprises a central controller, a heading controller, a rudder angle controller, a backing controller, a speed controller and an accelerator controller, an information collection module comprises a rudder angle sensor, a speed sensor, a heading sensor, a minigyro, a radar detector and a rudder angel compensator, a power module comprises an engine, a rudder pump device, a water-jet propulsor and a backing pump, and the control system can achieve the functions of trajectory tracking, turning rollover prevention, obstacle avoidance and backing and solves the rudder angle zero drift problem. In the control method, the heading controller is driven to continuously adjust the rudder angle of the rudder pump device through heading angle errors, and operation control of the whole navigation process is achieved; meanwhile, a speed control ring is introduced to assist in long distance target tracking, a rudder angle compensation ring is introduced to overcome rudder angle zero drift in ocean currents, and the minigyro monitors inclination of a hull so as to cooperate with the control module and the power module to achieve safe turn.

Description

technical field [0001] The invention belongs to the field of unmanned ships, and in particular relates to an unmanned ship motion control system and a motion control method. Background technique [0002] The autonomous operation of the unmanned ship first needs to solve the power control to ensure the correct movement of the hull; the advanced unmanned ship needs to realize trajectory tracking, so that the unmanned ship can patrol to the designated position on time and on time; Self-safety, to prevent rollover caused by improper control of the hull when it is running at high speed, especially the main control equipment, instruments, power supplies installed on the hull will suffer irreversible damage if they invade into the water. pose great risks. Therefore, the realization of trajectory tracking, turning anti-rollover, avoiding aquatic plants and exiting water bays has become an important indicator for assessing the safe and stable course of unmanned ships. Contents of ...

AI Technical Summary

Problems solved by technology

[0002] The autonomous operation of the unmanned ship first needs to solve the power control to ensure the correct movement of the hull; the advanced unmanned ship needs to realize trajectory tracking, so that the unmanned ship can patrol to the designated position on time and on time; Self-safety, to prevent rollover caused by improper control of the hull when it is running at high speed, especially the main control equipment, instruments, power supplies installed on the hull will suffer irreversible damage if they invade into the water. bring great risk

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