本发明公开了一种基于双喷水推进器无人艇自主靠泊控制方法。针对一类双喷泵动力驱动的无人艇,设计了泊位外镇定再向泊位靠拢的靠泊控制策略。考虑无人艇运动特性,结合激光雷达和光学传感器对泊位实时探测信息,设计了自主靠泊控制算法,该算法采用三层级联控制策略,解决了低航速下操纵受限、易受环境干扰以及靠泊高精度控制要求等问题;考虑无人艇双喷泵动力驱动特点,设计了动力分配算法进行低速精确矢量控制,通过双喷泵转舵和倒斗复杂逻辑控制,完成各个方向上的推力合成,从而实现无人艇自主靠泊功能。在不同风浪干扰的条件下,能实现100%靠泊成功率,有效验证了控制策略的稳定性、实用性,进一步提高了无人艇自主性,减少了人员操作。

    The invention discloses an unmanned ship autonomous berthing control method based on double water-jet propellers. A berthing control strategy of stabilizing outside a berth and then getting close to the berth is designed for an unmanned ship driven by double-spray-pump power. An autonomous berthing control algorithm is designed by considering the motion characteristics of the unmanned ship and combining real-time berthing detection information of a laser radar and an optical sensor, the algorithm adopts a three-layer cascade control strategy, and the problems that control is limited at a low navigational speed, environment interference is likely to happen, and berthing high-precision control requirements are met are solved. A power distribution algorithm is designed to carry out low-speed accurate vector control by considering the double-spray-pump power driving characteristic of the unmanned ship, and thrust synthesis in all directions is completed through complex logic control of double-spray-pump steering and bucket reversing, so that the autonomous berthing function of the unmanned ship is realized. Under the condition of different storm interferences, 100% berthing success rate can be achieved, the stability and practicability of a control strategy are effectively verified, the autonomy of the unmanned ship is further improved, and personnel operation is reduced.


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    Titel :

    一种基于双喷水推进器无人艇自主靠泊控制方法


    Erscheinungsdatum :

    2024-05-24


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING