A ship path tracking and roll comprehensive control method and device based on straight wing propeller

Abstract

The application provides a ship path tracking and roll comprehensive control method and device based on a straight wing propeller, belongs to the technical field of ship motion control, and solves the technical problem of insufficient path tracking and roll control precision and efficiency of a ship caused by environmental disturbance. The method comprises the following steps: establishing a sea wave disturbance model, constructing a four-degree-of-freedom ship motion equation, constructing a four-degree-of-freedom ship motion model with disturbance and measurement noise, reconstructing the ship motion state by using a Kalman filter, calculating a path tracking error by using an adaptive line-of-sight guidance algorithm, and generating an expected heading angle; determining a longitudinal thrust, a roll stabilizing moment and a heading control thrust; optimizing the revolution speed and the rotation swing angle of the straight wing propeller, and recalculating the rotation swing angle. The application is suitable for a ship equipped with a straight wing propeller to realize high-precision path tracking and efficient roll reduction by controlling the revolution speed and the swing angle of the propeller.

Description

Technical Field

[0001] This invention belongs to the field of ship motion control technology and is applicable to ships equipped with straight-wing propellers to achieve high-precision path tracking and efficient roll reduction by controlling the revolution speed and yaw angle of the propellers. Background Technology

[0002] The straight-wing propeller consists of several blades perpendicular to the main turntable. Each blade can oscillate around its own fixed axis while also revolving around the center of the main turntable, allowing the blades and the flow field to establish an effective angle of attack and generate thrust. This contrasts with a conventional propeller whose rotation axis is along the longitudinal axis of the hull. In this installation method, the rotation axis of the straight-wing propeller is usually along the vertical axis of the hull. It is installed in a manner similar to a regular rudder, hence it is called a straight-wing propeller or a gyro propeller.

[0003] Changing the orbital speed and blade pitch angle of a straight-wing propeller allows the propeller to... The range rapidly changes the magnitude and direction of the generated thrust vector. Therefore, a straight-wing propeller can not only generate thrust along the range of the thrust vector, but also change the magnitude and direction of the thrust vector. Thrust in the axial direction Propelling a ship forward can also generate along the way. Thrust in the axial direction This leads to the formation of relative The torque of the propulsion system causes the ship to steer. This characteristic gives ships equipped with straight-wing propulsion systems excellent maneuverability.

[0004] Furthermore, through the revolution of the straight-wing propeller, the propeller blades have a certain relative speed even when the ship is moored or at low speed, thus generating sufficient thrust, allowing the ship to maintain flexible maneuverability even at zero speed, and even turn on the spot.

[0005] Ship path tracking refers to maintaining a ship's position on a parametric path independent of time; that is, the ship's trajectory only needs to remain on a spatially defined path without considering time factors. Path tracking is a key technology for achieving autonomous navigation and intelligent ships, and has wide applications in long-distance navigation, seabed topography exploration, mine search and clearance, and other operations. Ships are affected by sea winds, waves, and ocean currents, resulting not only in lateral drift but also in rolling motion. Severe rolling significantly reduces the efficiency of onboard equipment and shortens the operational window.

[0006] Changing the pitch angle of a straight-wing propeller can easily alter the direction of its thrust, thus enabling ship steering. Simultaneously, the thrust in the vertical direction is not symmetrical to the ship's center of gravity. Overlap, therefore along Thrust in the axial direction A rolling moment is generated during the ship's turning process. This causes the ship to roll. This is due to the ship's natural rolling frequency. Typically greater than twice the natural bow roll frequency. Therefore, by reasonably controlling the revolution speed and yaw angle based on the ship's roll angle, angular velocity and angular acceleration, a roll stabilizing torque that resists the disturbance torque of the waves can be generated, thereby reducing the ship's roll.

[0007] Due to changes in ship speed and course, the actual frequency of ship rolling is... It may be close to the natural frequency of the bow roll. Frequency aliasing occurs, and using a standard roll control strategy at this time will generate low-frequency lateral thrust. This degrades the effectiveness of course control. This patent addresses various operating conditions during ship path tracking, fully considering potential frequency aliasing, to achieve high-performance integrated control for both ship path tracking and roll reduction. Summary of the Invention

[0008] This invention aims to solve the technical problem of insufficient accuracy and efficiency in path tracking and roll control of ships due to environmental disturbances.

[0009] This invention is achieved through the following technical solution: This invention proposes a comprehensive control method for ship path tracking and roll based on a straight-wing propeller, the method comprising: S1. Establish a wave disturbance model; the wave disturbance model is used to describe the four degrees of freedom motion of the ship caused by waves, the four degrees of freedom including pitch, sway, roll and bow; S2. Construct a four-degree-of-freedom ship motion equation to reflect the ship's motion state in the geodetic coordinate system; the state vector of the four-degree-of-freedom ship motion equation includes: the ship's longitudinal position, lateral position, roll angle and bow angle, as well as the pitch speed, sway speed, roll angular velocity and bow angular velocity; S3. Based on the four-degree-of-freedom ship motion equations and wave disturbance model, construct a four-degree-of-freedom ship motion model with disturbance and measurement noise, and use a Kalman filter to reconstruct the ship motion state, outputting the reconstructed state vector; S4. Based on the reconstructed state vector, the path tracking error is calculated using an adaptive line-of-sight guidance algorithm, and the desired heading angle is generated; S5. Based on the desired heading angle and the reconstructed state vector, determine the longitudinal thrust, roll stabilizing moment, and heading control thrust; S6. Based on the longitudinal thrust and heading control thrust, first determine the orbital speed and rotation angle of the straight-wing thruster based on the minimum power consumption, and then optimize the orbital speed and rotation angle of the straight-wing thruster based on the meaningful value of the roll angle. S7. Recalculate the rotation angle based on the optimized revolution speed to generate longitudinal thrust, roll stabilizing torque and yaw control thrust that are close to the required thrust. S8. Repeat steps S3 through S7.

[0010] Furthermore, the process of S1 includes: by , This represents the four degrees of freedom motion of a ship caused by ocean waves, where... Indicates unrestrained, Indicates surging, Indicates horizontal swaying. Indicates bow rocking; The wave disturbance model is constructed as follows: (1) In the formula: and Let be a constant matrix, representing a description of the wave disturbance. and The state vector is used to adjust the amplitude of wave disturbance. and , , representing Gaussian white noise.

[0011] Furthermore, the four-degree-of-freedom equations of motion described in S2 are: (2) (3) (4) (5) In the formula: The vectors represent the ship's longitudinal and lateral positions, roll angle, and bow angle in the geodetic coordinate system. The vectors representing the ship's pitch speed, sway speed, roll speed, and bow speed; Describes slowly varying environmental disturbances, including ocean currents, second-order wave forces, and steady winds. It is a diagonal matrix. It is Gaussian white noise; The inertia matrix, Here is the centripetal force matrix. The damping force matrix is... The restoring force matrix; This represents the control force vector of the straight-wing propeller. It is Gaussian white noise; For the measurement output of the inertial navigation system, This refers to the measurement noise of the inertial navigation system.

[0012] Furthermore, the S3 process includes: S31. Construct the four-degree-of-freedom ship motion model with interference and measurement noise; S32. Discretize the four-degree-of-freedom ship motion model with interference and measurement noise to obtain the discrete state estimation equation; S33. A discrete Kalman filter is used to perform state estimation on the discrete state estimation equation in order to reconstruct the motion state vector of the ship; S34. In the reconstruction, the sway, roll, and bow motion states are filtered to remove signals in the roll signal whose frequency is lower than 0.5 times the natural bow frequency.

[0013] Furthermore, the four-degree-of-freedom ship motion model is as follows: (6) (7) In the formula: Let be the new state vector, where, Let be the wave disturbance state vector. Let be the ship's motion state vector. This represents the slowly varying environmental disturbance vector. The velocity vector of the ship; For control vectors, The perturbation vector; This is the matrix of the corresponding dimension.

[0014] Furthermore, the method for state estimation using a discrete Kalman filter described in S33 is as follows: Establish the discrete state estimation equation: (8) (9) Set the parameter matrix: , , Set initial conditions: , ; Recursive calculations are performed using the discrete state estimation equations: Kalman gain calculation: , Posterior state correction: , Error covariance matrix correction: , State estimation: , Covariance estimation: .

[0015] Furthermore, the process of S4 is as follows: S41. Calculate path tracking error: Set the parameterization path as The geodetic plane coordinate system is The path is expected to be tracked by the following points. ; by The tangent direction is used as the Serret-Frenet coordinate system. The axis, the Serret-Frenet coordinate system shaft and The axis is perpendicular, and a 90-degree rotation is positive. The angle by which the Serret-Frenet coordinate system rotates relative to the geodetic coordinate system is called the path tangent angle. ; Define the path tracking error of the ship in the Serret Frenet coordinate system as: ; S42. The desired heading angle is calculated using the Adaptive Line-of-Sight (ALOS) guidance algorithm: (10) (11) (12) In the formula: To adapt to the forward sight distance, The strategy for estimating the sideslip angle, This is the design scaling factor; For the sum and velocity vectors of the ship.

[0016] Furthermore, the S5 process includes: Define the state errors of roll angle error, bow angle error, and sway velocity: (13) According to respectively Calculate the anti-roll thrust required for the straight-wing propeller Steering thrust and velocity thrust .

[0017] Furthermore, the S6 process includes: S61. Based on the longitudinal thrust and yaw moment, determine the orbital speed of the straight-wing propeller according to the principle of minimizing power consumption. and swing angle ; S62. Monitor the ship's motion status, when the roll angle... When the set threshold is exceeded, the orbital speed is adjusted. and swing angle ; S63. Adjust the spin angle of the straight-wing propeller in real time according to the ship's speed and revolution speed.

[0018] This invention also proposes a ship path tracking and roll integrated control device based on a straight-wing propeller, the device comprising: Modeling module; used to establish a wave disturbance model; the wave disturbance model is used to describe the four degrees of freedom motion of the ship caused by waves, the four degrees of freedom including pitch, sway, roll and bow; Equation construction module; used to construct four-degree-of-freedom ship motion equations to reflect the ship's motion state in the geodetic coordinate system; the state vector of the four-degree-of-freedom ship motion equations includes: the ship's longitudinal position, lateral position, roll angle and bow angle, as well as the pitch speed, sway speed, roll angular velocity and bow angular velocity; The state estimation module is used to construct a four-degree-of-freedom ship motion model with disturbance and measurement noise based on the four-degree-of-freedom ship motion equations and wave disturbance model, and to reconstruct the ship motion state using a Kalman filter, outputting the reconstructed state vector. The path tracking module is used to calculate the path tracking error based on the reconstructed state vector using an adaptive line-of-sight guidance algorithm, and to generate the desired heading angle. Control module; used to determine longitudinal thrust, roll stabilizing moment and heading control thrust based on the desired heading angle and the reconstructed state vector; The execution module is used to determine the orbital speed and yaw angle of the straight-wing thruster based on the longitudinal thrust and yaw control thrust, firstly by minimizing the power consumption, and then by optimizing the orbital speed and yaw angle of the straight-wing thruster based on the meaningful value of the roll angle. The optimization module is used to recalculate the rotation angle based on the optimized orbital speed, so as to generate longitudinal thrust, roll stabilizing torque and yaw control thrust that are close to the required thrust. The loop module is used to iteratively execute the state estimation module, path tracing module, control module, execution module, and optimization module.

[0019] The beneficial effects of this invention are: This invention proposes a comprehensive path tracking and roll control method for ships based on straight-wing propellers. Overall, this method improves the path tracking performance and roll reduction efficiency of ships with straight-wing propellers. It reconstructs the bow and roll signals based on the ship's navigation state, avoiding frequency overlap between the roll control signal and the bow signal. High-precision path tracking and efficient roll reduction are achieved by controlling the orbital speed and yaw angle of the straight-wing propeller.

[0020] By integrating ship propulsion, heading control, and roll reduction functions into a single straight-wing propulsion system, construction costs and subsequent maintenance workload are reduced.

[0021] Based on motion state vector reconstruction, the heading and roll control achieves accurate path tracking and efficient roll reduction, with lateral displacement deviation less than 0.3 times the ship length and roll reduction efficiency exceeding 85%.

[0022] Based on the coordinated control of the revolution speed and yaw angle of the left and right thrusters, efficient roll reduction is achieved from zero to the maximum speed range. When stationary, longitudinal thrust can be maintained at rated speed. The roll rate remains zero within one roll cycle, thus reducing roll during fixed-point operations.

[0023] This invention is applicable to controlling the revolution speed and yaw angle of a straight-wing propeller to achieve high-precision path tracking and efficient roll reduction. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0025] Figure 1 This is a flowchart of a ship path tracking and roll integrated control method based on a straight-wing propeller as described in this invention; Figure 2 This is a schematic diagram of the installation position of the straight-wing propeller described in this invention; Figure 3 This is a schematic diagram of the adaptive line-of-sight guidance algorithm ALOS described in this invention; Figure 4 The flowchart illustrates the integrated path tracking and roll control method for ships based on straight-wing propellers as described in this invention. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Specific implementation method one, such as Figure 1 As shown, the present invention provides a ship path tracking and roll integrated control method based on a straight-wing propeller, the method comprising: S1. Establish a wave disturbance model; the wave disturbance model is used to describe the four degrees of freedom motion of the ship caused by waves, the four degrees of freedom including pitch, sway, roll and bow; S2. Construct a four-degree-of-freedom ship motion equation to reflect the ship's motion state in the geodetic coordinate system; the state vector of the four-degree-of-freedom ship motion equation includes: the ship's longitudinal position, lateral position, roll angle and bow angle, as well as the pitch speed, sway speed, roll angular velocity and bow angular velocity; S3. Based on the four-degree-of-freedom ship motion equations and wave disturbance model, construct a four-degree-of-freedom ship motion model with disturbance and measurement noise, and use a Kalman filter to reconstruct the ship motion state, outputting the reconstructed state vector; S4. Based on the reconstructed state vector, the path tracking error is calculated using an adaptive line-of-sight guidance algorithm, and the desired heading angle is generated; S5. Based on the desired heading angle and the reconstructed state vector, determine the longitudinal thrust, roll stabilizing moment, and heading control thrust; S6. Based on the longitudinal thrust and heading control thrust, first determine the orbital speed and rotation angle of the straight-wing thruster based on the minimum power consumption, and then optimize the orbital speed and rotation angle of the straight-wing thruster based on the meaningful value of the roll angle. S7. Recalculate the rotation angle based on the optimized revolution speed to generate longitudinal thrust, roll stabilizing torque and yaw control thrust that are close to the required thrust. S8. Repeat steps S3 through S7.

[0028] In this embodiment, the method begins with step one, in which a wave disturbance model is established. This wave disturbance model describes the four degrees of freedom motion of the ship caused by waves, including pitch, sway, roll, and bow. Specifically, Affected by environmental disturbances such as ocean waves, the ship rolls and deviates from its original path. , The wave disturbances, including pitching, swaying, rolling, and bowing motions, are described using the following model.

[0029] (1) In the formula: , These two constant matrices describe the wave disturbance. , Used to adjust the amplitude of the disturbance force. , ( ) represents Gaussian white noise.

[0030] Then, step two is executed. In step two, a four-degree-of-freedom ship motion equation is constructed to reflect the ship's motion state in the geodetic coordinate system. The state vector of the four-degree-of-freedom ship motion equation includes: the ship's longitudinal position, lateral position, roll angle, and bow angle, as well as the pitch velocity, sway velocity, roll angular velocity, and bow angular velocity. Specifically, The 4-DOF motion model of a ship can be described by the following equations. (2) (3) (4) (5) In the formula: The vectors represent the ship's longitudinal and lateral positions, roll angle, and bow angle in the geodetic coordinate system. Let be the vectors for sway velocity, roll velocity, pitch velocity, and bow velocity. Equation (3) is a first-order Markov model vector used to describe slowly varying environmental disturbances such as ocean currents, second-order wave forces, and steady winds. . , ( ) represents Gaussian white noise. The inertia matrix, For the Coriolis-centripetal matrix, The damping force matrix is... This is the restoring force matrix. This represents the control force vector of the straight-wing propeller. , ( ) represents Gaussian white noise. For the measurement output of the inertial navigation system, This refers to the measurement noise of the inertial navigation system.

[0031] Then, step three is executed. In step three, based on the four-degree-of-freedom ship motion equations and wave disturbance model, a four-degree-of-freedom ship motion model with disturbance and measurement noise is constructed, and a Kalman filter is used to reconstruct the ship motion state, outputting the reconstructed state vector. First, based on formulas (1)-(5), the 4-DOF ship motion model with interference and measurement noise can be expressed as follows: (6) (7) In the formula: For the new state vector, For control vectors, This is the perturbation vector. This is the matrix of the corresponding dimension.

[0032] Then, since the designed control strategy needs to be executed in the digital controller, based on formulas (6)-(7), the following discrete state estimation equations are established. (8) (9) Setting initial conditions for the discrete Kalman filter Parameter matrix: ,

[0033] Initial conditions: ,

[0034] The corresponding recurrence relation for the discrete Kalman filter is as follows: Gain calculation:

[0035] Posterior state correction:

[0036] Error covariance matrix correction:

[0037] State estimation:

[0038] Covariance estimation:

[0039] Finally, through the above recursive process, the state can be determined. Perform a refactoring; the refactored version and As crucial information for controller design, proper selection of filter parameters can prevent frequency aliasing and ensure... and Maintain within a certain frequency band. Filter out according to design requirements. and Mid-frequency below 0.5 The signal is only retained at relatively high frequencies. While this slightly reduces the roll reduction effect in some downward-sloping waves, it ensures minimal lateral and heading errors.

[0040] Then proceed to step four, in which, as follows: Figure 3 As shown, based on the reconstructed state vector, an adaptive line-of-sight guidance algorithm is used to calculate the path tracking error and generate the desired heading angle; specifically, For parameterized paths ,refer to Figure 2 The geodetic plane coordinate system is The path expected tracking point is set to ,by The tangent direction is used as the SF coordinate system (Serret-Frenet coordinate system). The axis, the Serret Frenet coordinate system shaft and The axis is perpendicular, and a 90-degree rotation is positive. The Serret-Frenet coordinate system is relative. The angle of rotation of the coordinate system is called the path tangent angle. The path tracking error of the ship in the Serret Frenet coordinate system is... .

[0041] According to ALOS, the path problem is transformed into a heading control problem, and the desired heading angle is... (10) (11) (12) In the formula: To adapt to the forward sight distance, The strategy for estimating the sideslip angle, This is the design scaling factor. For the sum and velocity vectors of the ship.

[0042] Then, step five is executed, in which the longitudinal thrust, roll stabilizing moment, and heading control thrust are determined based on the desired heading angle and the reconstructed state vector; specifically, Construct new state variables . The desired roll angle is determined by the control objective of stopping the ship from rolling. , Determined by equation (10), The desired ship speed. State error. (13) According to respectively Calculate the anti-roll thrust required for the straight-wing propeller Steering thrust and velocity thrust

[0043] (14) (15) (16) In the formula: , and ( These are the proportional coefficient, integral coefficient, and differential coefficient, respectively.

[0044] Finally, proceed to step six. In step six, as follows: Figure 4 As shown, based on the longitudinal thrust and yaw control thrust, the orbital speed and spin angle of the straight-wing thruster are first determined based on minimizing power consumption, and then the orbital speed and spin angle of the straight-wing thruster are optimized based on the meaningful value of the roll angle; specifically, First, according to and Synthetic Straight-Finger Thruster Vector The revolution speed of the left and right straight-wing thrusters is determined based on the principle of minimizing power consumption. and swing angle .

[0045] Then, the ship's time-domain roll angle was recorded. The ship's meaningful roll angle is calculated every 10 minutes. .in accordance with and Calculate the generation of straight-wing propellers The required orbital speed of the straight-wing thruster and swing angle

[0046] Then, if Then the orbital speed of the straight-wing thruster is maintained at Otherwise, the orbital speed would accelerate to ,remember At an orbital speed of In this state, by changing the swing angle for Maintain thrust vector , recorded as If at this time If there is no solution, then increase to ,at this time and The sum vector is denoted as At an orbital speed of In this state, it generates The swing angle is .

[0047] Then, in each servo cycle, based on the revolution speed of the thruster... and Recalculate the rotation angle Filter out The DC component in the middle, the remaining part is .

[0048] Then, the sway angle of the straight-wing propeller .because Since it consists of high-frequency components and does not contain DC, the average thrust generated at this time is still [missing information]. That is, the sway reduction torque does not affect the average longitudinal thrust and the average steering torque.

[0049] Then, step seven is executed. In step seven, the rotation angle is recalculated based on the optimized revolution speed to generate longitudinal thrust, roll stabilizing torque, and yaw control thrust that approximate the required thrust. Specifically, in each servo cycle, the revolution speed of the straight-wing thruster is controlled as follows: The swing angle is .

[0050] Finally, step eight is executed, in which steps three through seven are executed in a loop. Specifically, it transitions to the state in step three. The restructuring is ongoing. Specific implementation method two, the ship path tracking and roll integrated control device based on a straight-wing propeller described in this embodiment, the device includes: Modeling module; used to establish a wave disturbance model; the wave disturbance model is used to describe the four degrees of freedom motion of the ship caused by waves, the four degrees of freedom including pitch, sway, roll and bow; Equation construction module; used to construct four-degree-of-freedom ship motion equations to reflect the ship's motion state in the geodetic coordinate system; the state vector of the four-degree-of-freedom ship motion equations includes: the ship's longitudinal position, lateral position, roll angle and bow angle, as well as the pitch speed, sway speed, roll angular velocity and bow angular velocity; The state estimation module is used to construct a four-degree-of-freedom ship motion model with disturbance and measurement noise based on the four-degree-of-freedom ship motion equations and wave disturbance model, and to reconstruct the ship motion state using a Kalman filter, outputting the reconstructed state vector. The path tracking module is used to calculate the path tracking error based on the reconstructed state vector using an adaptive line-of-sight guidance algorithm, and to generate the desired heading angle. Control module; used to determine longitudinal thrust, roll stabilizing moment and heading control thrust based on the desired heading angle and the reconstructed state vector; The execution module is used to determine the orbital speed and yaw angle of the straight-wing thruster based on the longitudinal thrust and yaw control thrust, firstly by minimizing the power consumption, and then by optimizing the orbital speed and yaw angle of the straight-wing thruster based on the meaningful value of the roll angle. The optimization module is used to recalculate the rotation angle based on the optimized orbital speed, so as to generate longitudinal thrust, roll stabilizing torque and yaw control thrust that are close to the required thrust. The loop module is used to iteratively execute the state estimation module, path tracing module, control module, execution module, and optimization module.

Claims

1. A method for integrated control of ship path tracking and roll based on a straight-wing propeller, characterized in that, The method includes: S1. Establish a wave disturbance model; the wave disturbance model is used to describe the four degrees of freedom motion of the ship caused by waves, the four degrees of freedom including pitch, sway, roll and bow; S2. Construct a four-degree-of-freedom ship motion equation to reflect the ship's motion state in the geodetic coordinate system; the state vector of the four-degree-of-freedom ship motion equation includes: the ship's longitudinal position, lateral position, roll angle and bow angle, as well as the pitch speed, sway speed, roll angular velocity and bow angular velocity; S3. Based on the four-degree-of-freedom ship motion equations and wave disturbance model, construct a four-degree-of-freedom ship motion model with disturbance and measurement noise, and use a Kalman filter to reconstruct the ship motion state, outputting the reconstructed state vector; S4. Based on the reconstructed state vector, the path tracking error is calculated using an adaptive line-of-sight guidance algorithm, and the desired heading angle is generated; S5. Based on the desired heading angle and the reconstructed state vector, determine the longitudinal thrust, roll stabilizing moment, and heading control thrust; S6. Based on the longitudinal thrust and heading control thrust, first determine the orbital speed and rotation angle of the straight-wing thruster based on the minimum power consumption, and then optimize the orbital speed and rotation angle of the straight-wing thruster based on the meaningful value of the roll angle. S61. Based on the longitudinal thrust and yaw moment, determine the orbital speed of the straight-wing propeller according to the principle of minimizing power consumption. and swing angle ; S62. Monitor the ship's motion status, based on the roll angle. Calculate the required orbital speed and swing angle ; S63. In each servo cycle, control the orbital speed of the straight-wing thruster to be... The swing angle is ; in , ; In order to be in Maintain the required thrust angle at the bottom. for The remaining portion after filtering out the DC component; S7. Recalculate the rotation angle based on the optimized revolution speed to generate longitudinal thrust, roll stabilizing torque and yaw control thrust that are close to the required thrust. S8. Repeat steps S3 through S7.

2. The integrated control method for ship path tracking and roll based on a straight-wing propeller according to claim 1, characterized in that, The process of S1 includes: by , This represents the four degrees of freedom motion of a ship caused by ocean waves, where... Indicates unrestrained, Indicates surging, Indicates horizontal swaying. Indicates bow rocking; The wave disturbance model is constructed as follows: (1) In the formula: and Let be a constant matrix, representing a description of the wave disturbance. and The state vector is used to adjust the amplitude of wave disturbance. and , , representing Gaussian white noise.

3. The integrated control method for ship path tracking and roll based on a straight-wing propeller according to claim 1, characterized in that, The four-degree-of-freedom ship motion equations described in S2: (2) (3) (4) (5) In the formula: The vectors represent the ship's longitudinal and lateral positions, roll angle, and bow angle in the geodetic coordinate system. The vectors representing the ship's pitch speed, sway speed, roll speed, and bow speed; Used to describe slowly varying environmental disturbances, including ocean currents, second-order wave forces, and steady winds. It is a diagonal matrix. It is Gaussian white noise; The inertia matrix, Here is the centripetal force matrix. The damping force matrix is... The restoring force matrix; This represents the control force vector of the straight-wing propeller. It is Gaussian white noise; For the measurement output of the inertial navigation system, This refers to the measurement noise of the inertial navigation system.

4. The integrated control method for ship path tracking and roll based on a straight-wing propeller according to claim 1, characterized in that, The S3 process includes: S31. Construct the four-degree-of-freedom ship motion model with interference and measurement noise; S32. Discretize the four-degree-of-freedom ship motion model with interference and measurement noise to obtain the discrete state estimation equation; S33. A discrete Kalman filter is used to perform state estimation on the discrete state estimation equation in order to reconstruct the motion state vector of the ship; S34. In the reconstruction, the sway, roll, and bow motion states are filtered to remove signals in the roll signal whose frequency is lower than 0.5 times the natural bow frequency.

5. The integrated control method for ship path tracking and roll based on a straight-wing propeller according to claim 4, characterized in that, The four-degree-of-freedom ship motion model is as follows: (6) (7) In the formula: Let be the new state vector, where, Let be the wave disturbance state vector. Let be the ship's motion state vector. This represents the slowly varying environmental disturbance vector. The velocity vector of the ship; For control vectors, The perturbation vector; This is the matrix of the corresponding dimension.

6. The integrated control method for ship path tracking and roll based on a straight-wing propeller according to claim 4, characterized in that, The method for state estimation using a discrete Kalman filter, as described in S33, is as follows: Establish the discrete state estimation equation: (8) (9) Set the parameter matrix: , , Set initial conditions: , ; Recursive calculations are performed using the discrete state estimation equations: Kalman gain calculation: , Posterior state correction: , Error covariance matrix correction: ， State estimation: , Covariance estimation: .

7. The integrated control method for ship path tracking and roll based on a straight-wing propeller according to claim 1, characterized in that, The process of S4 is as follows: S41. Calculate path tracking error: Set the parameterization path as The geodetic plane coordinate system is The path is expected to be tracked by the following points. ; by The tangent direction is used as the Flyner coordinate system. Axis, Flyner coordinate system shaft and The axis is perpendicular, and a 90-degree rotation is positive. The angle of rotation of the Flyner coordinate system relative to the geodetic plane coordinate system is called the path tangent angle. ; Define the path tracking error of the ship in the Flyner coordinate system as: ; S42. The desired heading angle is calculated using the Adaptive Line-of-Sight (ALOS) guidance algorithm: (10) (11) (12) In the formula: To adapt to the forward sight distance, The strategy for estimating the sideslip angle, This is the design scaling factor; For the sum and velocity vectors of the ship.

8. The integrated control method for ship path tracking and roll based on a straight-wing propeller according to claim 1, characterized in that, The S5 process includes: Define the state errors of roll angle error, bow angle error, and sway velocity: (13) According to respectively Calculate the anti-roll thrust required for the straight-wing propeller Steering thrust and velocity thrust .

9. A ship path tracking and roll integrated control device based on a straight-wing propeller, characterized in that, The device includes: the device is used to execute the ship path tracking and roll integrated control method based on a straight-wing propeller as described in any one of claims 1 to 8; Modeling module; used to establish a wave disturbance model; the wave disturbance model is used to describe the four degrees of freedom motion of the ship caused by waves, the four degrees of freedom including pitch, sway, roll and bow; Equation construction module; used to construct four-degree-of-freedom ship motion equations to reflect the ship's motion state in the geodetic coordinate system; the state vector of the four-degree-of-freedom ship motion equations includes: the ship's longitudinal position, lateral position, roll angle and bow angle, as well as the pitch speed, sway speed, roll angular velocity and bow angular velocity; The state estimation module is used to construct a four-degree-of-freedom ship motion model with disturbance and measurement noise based on the four-degree-of-freedom ship motion equations and wave disturbance model, and to reconstruct the ship motion state using a Kalman filter, outputting the reconstructed state vector. The path tracking module is used to calculate the path tracking error based on the reconstructed state vector using an adaptive line-of-sight guidance algorithm, and to generate the desired heading angle. Control module; used to determine longitudinal thrust, roll stabilizing moment and heading control thrust based on the desired heading angle and the reconstructed state vector; The execution module is used to determine the orbital speed and yaw angle of the straight-wing thruster based on the longitudinal thrust and heading control thrust, firstly by minimizing power consumption, and then by optimizing the orbital speed and yaw angle of the straight-wing thruster based on the meaningful value of the roll angle; and to determine the orbital speed of the straight-wing thruster based on the longitudinal thrust and yaw moment, according to the principle of minimizing power consumption. and swing angle Monitor the ship's motion status, based on the roll angle. Calculate the required orbital speed and swing angle In each servo cycle, the orbital speed of the straight-wing thruster is controlled as follows: The swing angle is ;in , ; The optimization module is used to recalculate the rotation angle based on the optimized orbital speed, so as to generate longitudinal thrust, roll stabilizing torque and yaw control thrust that are close to the required thrust. The loop module is used to iteratively execute the state estimation module, path tracing module, control module, execution module, and optimization module.

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