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.
本发明提供了一种双泵喷水推进无人艇推力动态分配方法,包括:根据预先给定的双泵喷水推进无人艇矢量控制任务,设计轨迹跟踪控制律得到航行任务指令信号;设计滑模矢量控制器,通过计算获得完成矢量控制任务所需合力矩和合推力设定值;设计兼顾双泵喷水推进无人艇稳定性、动态响应特性、稳态跟踪精度要求的推力动态分配目标函数,并根据喷水推进无人艇个操纵变量的物理约束对待寻优变量约束的范围进行限定;步骤四,采用已有优化算法求解上述优化问题,获得两台喷水推进器的指令信号。本发明能实现双泵喷水推进无人艇矢量控制航行任务,可减少传统反馈控制引起的推进泵运动部件磨损,并提升航行过程中的操控性、经济性和安全性。
Dynamic thrust distribution method for double-pump water-jet propulsion unmanned ship
一种双泵喷水推进无人艇推力动态分配方法
15.12.2020
Patent
Elektronische Ressource
Chinesisch
Method for calculating jet thrust of water jet propulsion ship
Europäisches Patentamt | 2025
|Engine Propulsion Type Unmanned Multicopter Thrust Transmission Device
Europäisches Patentamt | 2024