Unmanned boat rolling-heading coordination stability augmentation control system and method

An unmanned boat, rolling technology, applied in the control/adjustment system, attitude control, non-electric variable control and other directions, can solve the problems of small moment of inertia, easy rollover, and poor lateral stability of unmanned boats

CN109669469APending Publication Date: 2019-04-23山东智翼航空科技有限公司
10 Cites 1 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2019-04-23

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention provides an unmanned boat rolling-heading coordination stability augmentation control system and method. The unmanned boat rolling-heading coordination stability augmentation control system comprises a propulsion part, a propulsion control part, a sternpost rudder part, a sternpost rudder control part and a coordination control part. The propulsion part comprises a left variable pitch propeller, a left driving mechanism, a right variable pitch propeller and a right driving mechanism, the left variable pitch propeller and the right variable pitch propeller rotate in the opposite directions, and rolling moment is generated by propeller pitch differential and rotational speed differential. The propulsion control part includes a rolling angular velocity gyroscope, a rolling anglevelocity commander and a rolling angular velocity controller, and is used for rolling stability augmentation. The sternpost rudder part includes a left rudder, a left steering engine, a right rudderand a right steering engine, and the left rudder and the right rudder are simultaneously deflected to produce yawing moment. The sternpost rudder control part includes a yawing angular velocity gyroscope, a yawing angular velocity commander and a yawing angular velocity controller, and is used for yawing stability augmentation. The coordination control part is used for rolling-yawing coordinationcontrol. The double variable pitch propellers and double-rudder-surface coordination control are used as the anti-rolling and stability augmentation mode of an unmanned boat, and the rolling-yawing control quality can be improved.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention relates to an unmanned boat roll-course coordination stabilization control 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. Th...

Examples

Embodiment Construction

[0085] The present invention will be described in detail in conjunction with accompanying drawing now. This figure is a simplified schematic diagram only illustrating the basic structure of the present invention in a schematic manner, so it only shows the components relevant to the present invention.

[0086] like figure 1 and figure 2 As shown, a roll-course coordinated stabilization control system for an unmanned boat of the present invention mainly includes a propulsion unit, a roll stabilization unit, a tail rudder unit, a yaw stabilization unit and a coupling control unit, wherein,

[0087] The propulsion unit includes a left variable-pitch propeller 2, a left drive mechanism 21, a right variable-pitch propeller 3 and a right drive mechanism 31, and has:

[0088] The left drive mechanism 21 drives the left variable-pitch propeller 2, and the right drive mechanism 31 drives the right variable-pitch propeller 3. The left variable-pitch propeller 2 and the right variable-...