System and method for unmanned boat for shake reducing and stability increasing based on pitch-rotational speed differential

Abstract

The invention provides a system and a method for an unmanned boat for shake reducing and stability increasing based on pitch-rotational speed differential. The system comprises four parts of a propulsion part, a propulsion control part, a tail rudder part, and a tail rudder control part. The propulsion part comprises a left variable pitch propeller, a left drive mechanism, a right variable pitch propeller, and a right drive mechanism, wherein the left variable pitch propeller and the right variable pitch propeller are opposite in steering, and rolling moment is generated by the pitch-rotational speed differential while generating thrust; the propulsion control part comprises a rolling angular rate gyroscope, a rolling angular rate commander, and a rolling angular rate controller for rolling stability increasing and control; the tail rudder part comprises a left rudder, a left steering gear, a right rudder, and a right steering gear, and the left rudder and the right rudder are simultaneously deflected to generate yawing moment; and the tail rudder control part comprises a yawing angular rate gyroscope, a yawing angular rate commander, and a yawing angular rate controller for yawingstability increasing and control. According to the system and the method for the unmanned boat for shake reducing and stability increasing based on the pitch-rotational speed differential, the rolling and yawing operation quality can be improved by taking the pitch-rotational speed differential of the double propeller and the synchronous deflection of a double control surface as the shake reducing and stability increasing mode of the unmanned boat.

Description

technical field [0001] The invention relates to an unmanned boat pitch-speed differential anti-rolling stabilization system and method, which are mainly applied in the technical field of unmanned boat control and can improve the control quality of the unmanned boat. Background technique [0002] As an unmanned marine carrier platform, high-speed unmanned boats can undertake high-speed, long-duration, low-cost, large-scale, maintenance-free scientific investigations and military tasks in the ocean. Therefore, high-speed unmanned boats have extremely wide application prospects in military and civilian fields, such as biological research, hydrological observation, chart drawing, environmental monitoring, communication relay, resource exploration, territorial water patrol, smuggling and anti-drug, submarine tracking, intelligence gathering and Ship attack and other missions. [0003] In order to reduce the resistance of high-speed unmanned boats, their hulls are usually slender...

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is: in order to overcome the disadvantages of small moment of inertia, poor lateral stability and easy rollover of unmanned boats in the prior art, the present invention provides an unmanned boat pitch-speed differential anti-rolling and stabilization System and method for improving the handling quality of unmanned boats

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