The invention relates to the technical field of ship control, and discloses a linkage control method of propellers, a storage medium and a device, and the method comprises the following steps: respectively obtaining orientation angles and angular velocities of a ship body and each propeller; acquiring longitude and latitude positions, north speed and east speed of the ship body; calculating the northward speed adjustment amount, the east speed adjustment amount and the orientation angle adjustment amount of the hull; establishing mathematical modeling of the ship body according to the ship body parameters; the expected thrust magnitude and the expected thrust direction of each propeller are calculated according to the mathematical modeling of the ship body and each adjustment amount; the orientation angle adjustment amount of each propeller is calculated; and the output power and angle of each propeller are adjusted according to the expected thrust of each propeller towards the angle adjustment amount. According to the linkage method of the propellers, the multiple propellers can be automatically controlled to achieve the functions of electronic directional anchoring or translation and the like only by setting the expected longitude and latitude speed, the north direction speed and the east direction speed of the ship body according to needs.
本发明涉及船舶控制技术领域,公开了一种推进器的联动控制方法、存储介质及装置,其中方法包括如下步骤:分别获取船身和各个推进器的朝向角度和角速度;获取船身的经纬位置、北向速度和东向速度;计算船身的北向速度调整量、东向速度调整量和朝向角度调整量;根据船身参数建立船身的数学建模;根据船身的数学建模和各个调整量解算各个推进器的期望推力大小和期望推力方向;计算各个推进器的朝向角调整量;根据各个推进器的期望推力大小朝向角调整量调整各个推进器输出功率和角度。上述的推进器的联动方法,仅需要根据需要设定好船身的期望经纬速度、北向速度和东向速度,即可自动控制多个推进器实现电子定向抛锚或者平移等功能。
Propeller linkage control method, storage medium and device
一种推进器联动控制方法、存储介质及装置
2024-12-06
Patent
Electronic Resource
Chinese
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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