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Multi-navigation-state stable speed control method and device for ships and boats

A control method and technology for boats, applied in two-dimensional position/channel control, non-electric variable control, control/regulation system, etc., can solve problems such as difficulty in realizing speed control

Active Publication Date: 2021-01-08
ZHUHAI YUNZHOU INTELLIGENCE TECH COMPANY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In view of this, the embodiment of the present application provides a multi-navigation state steady speed control method and device to solve the problem in the prior art that it is difficult to realize the speed control in the transition state

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  • Multi-navigation-state stable speed control method and device for ships and boats

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Embodiment Construction

[0026] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0027] In order to facilitate the understanding, the related knowledge of multi-navigation state steady speed control of the ship is firstly introduced.

[0028] 1) The high-speed craft has an unstable speed range in the transition state.

[0029] The multi-navigation state refers to a ship (especially a high-speed boat), and its navigation process is divided into three navigation s...

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Abstract

The application is applicable to the technical field of boat control, and provides a multi-navigation-state stable speed control method and device for ships and boats, which are applied to a boat provided with various resistance increasing and reducing accessories. The method comprises the following steps: acquiring a current expected speed of a boat; on the basis of the expected speed, determining a target curve from multiple resistance-speed curves, the multiple resistance-speed curves being obtained by learning controllable parameters of the multiple resistance increasing and reducing accessories, and in the target curve, the expected speed belonging to an approximately linear controllable interval in the target curve; according to the target curve, determining target parameter combinations of the multiple resistance increasing and reducing accessories; according to the target parameter combination, adjusting the controllable parameters of the multiple resistance increasing and reducing accessories, and realizing the resistance parameters of the target curve so as to control the expected speed to be located on the approximately linear controllable interval of the target curve; in the approximately linear controllable interval, with a closed-loop motion control algorithm, realizing stable speed control over the expected speed according to speed deviation input and thrust adjustment output.

Description

technical field [0001] The present application belongs to the technical field of boat control, and in particular relates to a multi-navigation-state steady-speed control method and device for a boat. Background technique [0002] Usually, when a ship is performing tasks such as surveying and mapping or tracking and interception, it needs to keep sailing at a certain desired speed value, that is, the ship has a need for steady speed control of the desired speed. The existing motion control technology is mainly to control the track from the course deviation and the position deviation control, so as to realize the speed control of the ship. However, when the ship is in a transitional state, due to the small or nonlinear curvature of the resistance-speed curve, it is difficult to achieve stable control of the speed in the transitional speed range. Contents of the invention [0003] In view of this, the embodiments of the present application provide a multi-navigation state st...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 邹雪松王根宝杨春利
Owner ZHUHAI YUNZHOU INTELLIGENCE TECH COMPANY
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