The invention discloses a method for controlling the autonomous gyratory motion of a sail unmanned ship, and the method employs a sensor system, a wind speed sensor, a ship attitude sensor, a water flow sensor, an autonomous control system, a centralized control module, a control actuator, a motion estimation and prediction module, and an alarm module. The ship body keeps stable and accurate autonomous rotation motion, autonomous control and navigation of the sail are achieved, the problem of limitation existing in human experience control is solved, and according to a sensor system and a motion estimation and prediction module, the ship body motion trail and possible obstacles in a period of time in the future are predicted. The sail unmanned ship control method is used for overcoming the limitation of human experience control in the prior art, and safe, efficient and stable autonomous operation of the sail unmanned ship in a complex environment is achieved.

    本发明公开一种风帆无人船自主旋回运动的控制方法,包括传感器系统、风速传感器、船舶姿态传感器、水流传感器、自主控制系统、集中控制模块、控制执行器、运动估计与预测模块、报警模块,本发明根据自主控制系统自动调整风帆角度,使船体保持稳定且精确的自主旋转运动,实现风帆的自主控制和导航,解决人为经验操控存在的局限性的问题,根据传感器系统和运动估计与预测模块,预测未来一段时间内的船体运动轨迹和可能的障碍物,提高运行安全性和减少事故的发生使风帆无人船保持稳定的运动轨迹,本发明用以克服现有技术人为经验操控存在的局限性,实现风帆无人船在复杂环境中安全、高效、稳定的自主运作。


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    Title :

    Control method for autonomous gyratory motion of sail unmanned ship


    Additional title:

    一种风帆无人船自主旋回运动的控制方法


    Contributors:
    SONG WEIWEI (author) / LIU SHENG (author) / TAN YINCHAO (author) / KANG XIAO (author) / ZHANG LINGLONG (author) / GONG FANGCHAO (author) / SUN ZHI (author) / XU NA (author) / JIANG JIAXIN (author) / XU MAOYING (author)

    Publication date :

    2024-05-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS



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