Dynamic thrust distribution method for double-pump water-jet propulsion unmanned ship

Abstract

The invention provides a dynamic thrust distribution method for a double-pump water-jet propulsion unmanned ship, and the method comprises the steps: designing a trajectory tracking control law according to a preset double-pump water-jet propulsion unmanned ship vector control task, and obtaining a navigation task instruction signal; designing a sliding mode vector controller, and calculating to obtain a resultant moment and a resultant thrust set value required for completing a vector control task; designing a thrust dynamic distribution target function considering the stability, dynamic response characteristics and steady-state tracking precision requirements of the double-pump water-jet propulsion unmanned ship, and limiting the constraint range of the variable to be optimized accordingto the physical constraint of each manipulated variable of the water-jet propulsion unmanned ship; and 4, solving the optimization problem by adopting an existing optimization algorithm to obtain instruction signals of the two water-jet propellers. According to the invention, the vector control navigation task of the double-pump water-jet propulsion unmanned ship can be realized, the abrasion ofmoving parts of the propulsion pump caused by the traditional feedback control can be reduced, and the controllability, economy and safety in the navigation process are improved.

Description

technical field [0001] The invention belongs to the field of vector control of water-jet propelled unmanned boats, and relates to a thrust dynamic distribution method for double-pump water-jet propelled unmanned boats. Background technique [0002] Water-jet propulsion technology has significant advantages such as strong cavitation resistance, shallow draft, and superior maneuverability. Commonly used water-jet propulsion unmanned boats are equipped with two symmetrical water-jet propellers, which are powered by diesel engines connected to their respective shafts. , based on the vector control operation mode, it can complete vector navigation tasks such as turning in place, moving sideways, docking, and tilting when sailing at low speed. Thrust dynamic distribution is the key to realizing the vector control of dual-pump waterjet propulsion unmanned boats. Through the research on thrust dynamic distribution, the comprehensive control performance of unmanned boats can be impro...

AI Technical Summary

Problems solved by technology

The main contribution of this patent is to propose a path tracking control method for surface unmanned boats, which does not involve a specific thrust dynamic distribution method, and the method for obtaining navigation commands is also relatively complicated

[0005] To sum up, the existing public reports do not involve the optimal design of the dynamic distribution of thrust for waterjet propulsion unmanned boats, which needs to be filled.

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