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

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.

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...

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Problems solved by technology

[0007] The technical problem to be solved by the present invention is: in order to overcome the deficiencies of the unmanned boats in the prior art, such as small moment of inertia, poor lateral stability, and easy rollover, the present invention provides a roll-course coordinated stability enhancement control system for unmanned boats and method to improve the handling quality of the unmanned vehicle

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