CN109669347A - Unmanned ship rotating speed differential anti-rolling stability-increasing system and method - Google Patents
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Abstract
The invention provides a system and a method for stabilizing and stabilizing unmanned ship by differential rotation speed, which comprises a propelling part, a propelling control part, a tail rudder part and a tail rudder control part, wherein the propelling part comprises a left propeller thruster, a left driving mechanism, a right propeller thruster and a right driving mechanism; the propulsion control part comprises a rolling angular rate gyro, a rolling angular rate commander and a rolling angular rate controller and is used for increasing stability and controlling rolling; the tail rudder part comprises a left rudder, a left steering engine, a right rudder and a right steering engine, and the left rudder and the right rudder synchronously deflect to generate a yawing moment; the tail vane control part comprises a yaw rate gyro, a yaw rate commander and a yaw rate controller and is used for yaw stability augmentation and control. The invention takes the differential rotation speed of the double propeller propellers and the synchronous deflection of the double rudder surfaces as the anti-rolling and stability-increasing modes of the unmanned ship, and can improve the rolling-yawing operation quality.
Description
Technical Field
The invention relates to an unmanned ship stabilization system and method, which are mainly applied to the technical field of unmanned ship control and can improve the manipulation quality of an unmanned ship.
Background
As an unmanned marine carrying platform, the high-speed unmanned boat can undertake scientific investigation and military tasks of high navigational speed, long endurance, low cost, large range and maintenance-free in the sea. Therefore, the high-speed unmanned ship has extremely wide application prospects in the military and civil fields, such as biological research, hydrological observation, sea chart drawing, environment monitoring, communication relay, resource exploration, territorial patrol, smuggling and drug-arresting, submarine tracking, information collection, warship attack and other tasks.
In order to reduce the drag of the high-speed unmanned boat, the boat body of the high-speed unmanned boat is usually in an elongated body shape. Therefore, the high-speed unmanned ship has small moment of inertia and poor transverse stability. The swing phenomenon is easy to occur, and the stability of the platform is influenced; and the side turning is easy to happen under the conditions of sharp bends and strong wind, so that serious accidents are caused.
To improve the handling quality of high-speed unmanned boats, the commonly used anti-rolling and stabilization measures include: a catamaran, bilge keels, anti-rolling fins, anti-rolling water tanks and the like. The catamaran can enhance the stability of the ship, but can obviously increase the width of the unmanned ship, and is not beneficial to carrying on a mother ship; bilge keels are widely applied simple passive anti-rolling devices, cannot provide active anti-rolling measures and can increase navigation resistance; the fin stabilizer is an active stabilizer, and the fin stabilizer and a steering engine thereof need to be arranged on the outer side of the hull, so that the manufacturing cost and the system complexity are increased; the anti-rolling water tank realizes anti-rolling by installing the water tank in the ship body, but occupies a large area, has high power consumption and is less used at present.
In order to improve the operation quality of the high-speed unmanned ship, a double propeller-double tail rudder coordinated anti-rolling stability-increasing method is provided. The anti-torque of the double propellers is utilized, and the anti-rolling torque is generated through the differential rotation speed, so that the stability of the rolling angular speed is increased; the double tail rudders are used for generating yaw moment, so that the yaw moment caused by the differential rotation speed of the double propellers is overcome, and the stability increase of the yaw angular speed is realized. Compared with the traditional stabilization method, the invention has the advantages of simple structure, light weight, low power consumption and convenient carrying of the high-speed unmanned ship.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to overcome the defects of small rotational inertia, poor transverse stability and easy rollover of the unmanned ship in the prior art, the invention provides the unmanned ship rotational speed differential motion stabilization and stabilization system and the unmanned ship rotational speed differential motion stabilization and stabilization method, and the control quality of the unmanned ship is improved.
The technical scheme adopted for solving the technical problems is as follows: a rotation speed differential anti-rolling stability-increasing system of an unmanned ship comprises a propelling part, a propelling control part, a tail rudder part and a tail rudder control part, wherein,
the propulsion portion includes left screw propeller, left actuating mechanism, right screw propeller and right actuating mechanism to there are:
the left driving mechanism drives the left propeller thruster, the right driving mechanism drives the right propeller thruster, the rotating directions of the left propeller thruster and the right propeller thruster are opposite, and rolling torque is generated through differential rotation speed while thrust is generated;
the propulsion control part comprises a rolling angular rate gyro, a rolling angular rate commander and a rolling angular rate controller, and is provided with: the roll angular rate commander and the roll angular rate controller are sequentially connected to the propelling part, and the roll angular rate gyro is connected to the roll angular rate controller;
the tail vane portion includes left rudder, left steering wheel, right rudder and right steering wheel to have: the left rudder machine is used for driving the left rudder, the right rudder is used for driving the right rudder, and the left rudder and the right rudder synchronously deflect to jointly generate a yawing moment;
the tail vane control part comprises a yaw rate gyro, a yaw rate commander and a yaw rate controller, and comprises: the yaw rate commander and the yaw rate controller are sequentially connected to the tail rudder part, and the yaw rate gyro is connected to the yaw rate controller.
A unmanned ship rotational speed differential stabilization and stabilization method comprises the unmanned ship stabilization and stabilization system, and also comprises the steps of roll angular speed stabilization and control, and yaw angular speed stabilization and control, wherein,
the specific steps of roll angular speed stability augmentation and control comprise:
the roll angular velocity commander is connected with the upper computer, generates a roll angular velocity command uP according to a roll angular error e phi given by the upper computer and sends the command uP to the roll angular velocity controller, wherein the uP calculation formula is as follows:
uP＝Kφeφ (1)
wherein, KφIs an instruction coefficient.
Meanwhile, the roll angular rate gyro detects the roll angular rate P of the unmanned ship and sends the roll angular rate P to the roll angular rate controller.
Then, the roll angular speed controller calculates a roll angular speed error eP according to the roll angular speed instruction uP and the roll angular speed P; the roll angular speed controller generates a rotation speed differential increment control instruction u delta omega according to the roll angular speed error eP, so that the rotation speed increment control instruction u omega of the left propeller thruster is obtainedLAnd a rotating speed increment control instruction u omega of a right propeller thrusterRAnd u ΩLAnd u ΩREqual in size and opposite in direction; the correlation calculation formula is:
wherein,is a control scaling factor; p is the roll rate detected by the roll rate gyro; omegaL0And ΩR0The original rotating speeds of the left propeller thruster and the right propeller thruster are respectively; u Δ ΩLAnd u Δ ΩRThe differential incremental control commands are the same in amplitude and opposite in sign and are sent to the left driving mechanism and the right driving mechanism of the propelling part.
The left driving mechanism and the right driving mechanism are respectively based on u delta omegaLAnd u Δ ΩRDriving the left propeller thruster and the right propeller thruster to reach the corresponding rotating speed omegaLAnd ΩR；
Due to the square omega of the torque tau and the rotating speed of the propeller2And the rolling torque L and the corresponding rolling angular speed P can be generated under the condition that the left propeller and the right propeller generate differential rotating speeds, and the calculation formula is as follows:
wherein I is the rolling moment of inertia of the unmanned ship, tauLAnd τRRespectively the reaction torque of the left propeller thruster and the right propeller thruster; by varying the speed omega of the left propellerLAnd the rotation speed omega of the right propellerRThe rolling torque L and the corresponding rolling angular speed P of the boat body can be adjusted, so that the stability of the rolling angular speed P of the boat body is enhanced and controlled.
However, while changing the rotation speed omega of the left propellerLAnd the rotation speed omega of the right propellerRIn the process, the thrust of the left propeller thruster and the thrust of the right propeller thruster are differential, and then unnecessary yawing moment N is generatedΩ(ii) a In order to overcome said yaw moment NΩThe influence of (2) needs to be controlled by a tail vane in a coordinated mode, so that the stability increasing and controlling of the yaw rate are further included.
The specific steps of the stability augmentation and control of the yaw rate comprise:
the yaw rate commander is connected with the upper computer, generates a yaw rate command uR according to a yaw rate error e psi given by the upper computer and sends the command uR to the yaw rate controller, and the calculation formula of the uR is as follows:
uR＝Kψeψ (4)
wherein, KψIs an instruction coefficient.
Meanwhile, a yaw rate gyro detects the yaw rate R of the unmanned ship and sends the yaw rate R to a yaw rate controller.
Then, the yaw rate controller calculates a yaw rate error eR according to the yaw rate command uR and the yaw rate R; then, the yaw rate controller generates a tail rudder synchronous control command u theta according to the yaw rate error eR, so that a left rudder control command u theta is obtainedLControl command u theta of right rudderRAnd the left rudder control command u ΘLControl command u theta of right rudderREqual in size and same in direction, the formula is:
wherein,is a control scale factor, R is the yaw rate detected by the yaw rate gyro, u ΘLAnd u ΘRIs the same control surface control command.
The yaw rate controller will u thetaLAnd u ΘRThe left steering engine and the right steering engine are sent to a tail steering part; at u ΘLAnd u ΘRUnder the action of the control system, the left rudder and the right rudder deflect synchronously to generate a yaw moment N and a corresponding yaw angular speed R, so that the stability augmentation and the control of the yaw angular speed are realized.
Through the coordination control of the propelling part and the tail rudder part, the yaw moment disturbance generated by the differential rotation speed of the left propeller thruster and the right propeller thruster is overcome while the stability and the control of the roll angular speed are enhanced, and the stability and the control of the yaw angular speed are realized.
The invention has the beneficial effects that: according to the anti-rolling stability-increasing system and method for the unmanned ship, the stability increasing and control of the rolling motion of the unmanned ship are realized by utilizing the reactive torques of the left screw propeller and the right screw propeller; by utilizing the yawing moments of the left rudder and the right rudder, the yaw rate disturbance generated by the left propeller thruster and the right propeller thruster is overcome, and meanwhile, the expected yaw rate is generated; the unmanned ship is combined with the double propeller propellers and the double rudder surfaces to be used as a mode for stabilizing and controlling the unmanned ship, so that expected yaw angular speed can be generated while stabilizing and stabilizing, and the control quality of the unmanned ship is improved; compared with the traditional stabilization and control method, the invention has the advantages of simple principle, convenient adjustment and wide application range.
Drawings
The invention is further illustrated by the following figures and examples.
Fig. 1 is a rear view of the unmanned boat speed differential roll reduction and stabilization system and method carried on the unmanned boat.
Fig. 2 is a side view of the unmanned boat speed differential roll reduction and stabilization system and method carried on the unmanned boat.
FIG. 3 is a flow chart of the unmanned boat rotational speed differential roll stabilization system and method.
In the figure: 1. the unmanned ship comprises an unmanned ship, 2 parts of a left propeller thruster, 21 parts of a left driving mechanism, 3 parts of a right propeller thruster, 31 parts of a right driving mechanism, 4 parts of a left rudder, 41 parts of a left rudder, 5 parts of a right rudder, 51 parts of a right steering engine, 6 parts of a rolling angular velocity gyro, 61 parts of a rolling angular velocity commander, 62 parts of a rolling angular velocity controller, 7 parts of a yaw angular velocity gyro, 71 parts of a yaw angular velocity commander and 72 parts of a yaw angular velocity controller.
Detailed Description
The present invention will now be described in detail with reference to the accompanying drawings. This figure is a simplified schematic diagram, and merely illustrates the basic structure of the present invention in a schematic manner, and therefore it shows only the constitution related to the present invention.
As shown in fig. 1 and fig. 2, the rotation speed differential anti-rolling stability-increasing system of the unmanned ship of the present invention mainly comprises a propulsion unit, a propulsion control unit, a tail rudder unit and a tail rudder control unit, which are arranged on the unmanned ship 1, wherein the propulsion control unit controls the propulsion unit, and the tail rudder control unit controls the tail rudder unit, wherein:
propulsion portion, including left screw propeller 2, left actuating mechanism 21, right screw propeller 3 and right actuating mechanism 31 to there are:
the left driving mechanism 21 drives the left propeller 2, and the right driving mechanism 31 drives the right propeller 3; the left propeller 2 and the right propeller 3 have opposite rotation directions, and generate thrust and roll torque through differential rotation speed.
The propulsion control unit includes a roll rate gyro 6, a roll rate commander 61, and a roll rate controller 62, and has: a roll angular rate commander 61 and a roll angular rate controller 62 are connected to the propulsion section in turn, and a roll angular rate gyro 6 is connected to the roll angular rate controller 62.
The tail vane portion includes left rudder 4, left rudder machine 41, right rudder 5 and right steering wheel 51 to there are: the left steering engine 41 is used for driving the left rudder 4, the right steering engine 51 is used for driving the right rudder 5, and the left rudder 4 and the right rudder 5 synchronously deflect to jointly generate a yaw moment.
The tail rudder control unit includes a yaw rate gyro 7, a yaw rate commander 71 and a yaw rate controller 72, and includes: the yaw rate commander 71 and the yaw rate controller 72 are connected to the rudder unit in turn, and the yaw rate gyro 7 is connected to the yaw rate controller 72.
As shown in fig. 3, a method for stabilizing and stabilizing the rotational speed differential of the unmanned ship comprises the stabilizing and stabilizing system of the unmanned ship 1, and further comprises the steps of stabilizing and controlling the roll angular speed and stabilizing and controlling the yaw angular speed, wherein,
the specific steps of roll angular speed stability augmentation and control comprise:
the roll angular velocity commander 61 is connected with the upper computer, generates a roll angular velocity command uP according to a roll angular error e phi given by the upper computer, and sends the roll angular velocity command uP to the roll angular velocity controller 62, wherein the uP calculation formula is as follows:
uP＝Kφeφ (1)
wherein, KφIs an instruction coefficient.
Meanwhile, the roll rate gyro 6 detects the roll rate P of the unmanned boat 1 and sends it to the roll rate controller 62.
Then, the roll angular velocity controller 62 calculates a roll angular velocity error eP according to the roll angular velocity command uP and the roll angular velocity P; the roll angular velocity controller 62 generates a rotational speed differential incremental control command u Δ Ω according to the roll angular velocity error eP, thereby obtaining a rotational speed incremental control command u Ω of the left propeller 2LAnd a rotational speed increment control command u omega of the right propeller thruster 3RAnd u ΩLAnd u ΩREqual in size and opposite in direction; the correlation calculation formula is:
wherein,is a control scaling factor; p is the roll angular velocity detected by the roll angular velocity gyro 6; omegaL0And ΩR0The original rotating speeds of the left propeller thruster 2 and the right propeller thruster 3 are respectively; u Δ ΩLAnd u Δ ΩRIs differential gain control with same amplitude and opposite signAnd a command is sent to the left driving mechanism 21 and the right driving mechanism 31 of the propelling part.
The left drive mechanism 21 and the right drive mechanism 31 are based on u Δ ΩLAnd u Δ ΩRThe left propeller 2 and the right propeller 3 are driven to reach the corresponding rotating speed omegaLAnd ΩR；
Due to the square omega of the torque tau and the rotating speed of the propeller2Proportional to each other, therefore, when the left propeller 2 and the right propeller 3 generate differential rotation speeds, the roll torque L and the corresponding roll angular velocity P for the hull can be generated, and the calculation formula is:
wherein I is the rolling moment of inertia, τ, of the unmanned vehicle 1LAnd τRThe reaction torque of the left propeller thruster 2 and the right propeller thruster 3 is respectively; by varying the speed omega of the left propeller 2LAnd the rotational speed omega of the right propeller 3RThe rolling torque L and the corresponding rolling angular speed P of the boat body can be adjusted, so that the stability of the rolling angular speed P of the boat body is enhanced and controlled.
However, the rotation speed omega of the left propeller 2 is changedLAnd the rotational speed omega of the right propeller 3RIn the process, the thrust of the left propeller 2 and the thrust of the right propeller 3 are differentiated, and then unnecessary yaw moment N is generatedΩ(ii) a In order to overcome said yaw moment NΩThe influence of (2) needs to be controlled by a tail vane in a coordinated mode, so that the stability increasing and controlling of the yaw rate are further included.
The specific steps of the stability augmentation and control of the yaw rate comprise:
the yaw rate commander 71 is connected to the upper computer, generates a yaw rate command uR according to a yaw angle error e ψ given by the upper computer, and sends the command uR to the yaw rate controller 72, where the calculation formula of uR is:
uR＝Kψeψ (4)
wherein, KψIs an instruction coefficient.
Meanwhile, the yaw rate gyro 7 detects the yaw rate R of the unmanned boat 1 and sends it to the yaw rate controller 72.
Then, the yaw rate controller 72 calculates a yaw rate error eR according to the yaw rate command uR and the yaw rate R; next, the yaw rate controller 72 generates a tail rudder synchronous control command u Θ according to the yaw rate error eR, thereby obtaining a left rudder 4 control command u ΘLControl command u theta of right rudder 5RAnd the left rudder 4 control command u thetaLControl command u theta of right rudder 5REqual in size and same in direction, the formula is:
wherein,is a control scale factor, R is a yaw rate detected by a yaw rate gyro 7, u ΘLAnd u ΘRIs the same control surface control command.
Yaw rate controller 72 will u ΘLAnd u ΘRA left steering engine 41 and a right steering engine 51 which are sent to a tail steering part; at u ΘLAnd u ΘRUnder the action of the control system, the left rudder 4 and the right rudder 5 deflect synchronously to generate a yaw moment N and a corresponding yaw angular speed R, so that the stability augmentation and the control of the yaw angular speed are realized.
Through the coordination control of the propelling part and the tail vane part, the yaw moment disturbance generated by the differential rotation speed of the left propeller thruster 2 and the right propeller thruster 3 is overcome while the stability of the roll angular speed is enhanced and controlled, and the stability enhancement and the control of the yaw angular speed are realized.
In light of the foregoing description of preferred embodiments in accordance with the invention, it is to be understood that numerous changes and modifications may be made by those skilled in the art without departing from the scope of the invention. The technical scope of the present invention is not limited to the contents of the specification, and must be determined according to the scope of the claims.
Claims (2)
1. The utility model provides an unmanned ship rotational speed differential motion subtracts and shakes steady increase system which characterized in that: comprises a propulsion part, a propulsion control part, a tail rudder part and a tail rudder control part, wherein,
propulsion portion includes left screw propeller (2), left actuating mechanism (21), right screw propeller (3) and right actuating mechanism (31) to there are:
the left driving mechanism (21) drives the left propeller thruster (2), the right driving mechanism (31) drives the right propeller thruster (3), the rotating directions of the left propeller thruster (2) and the right propeller thruster (3) are opposite, and when thrust is generated, rolling moment is generated through differential rotation speed;
the propulsion control unit includes a roll rate gyro (6), a roll rate commander (61), and a roll rate controller (62), and has: a roll angular rate commander (61) and a roll angular rate controller (62) are sequentially connected to the propulsion section, and a roll angular rate gyro (6) is connected to the roll angular rate controller (62);
the tail vane portion includes left rudder (4), left steering wheel (41), right rudder (5) and right steering wheel (51) to have: the left steering engine (41) is used for driving the left rudder (4), the right steering engine (51) is used for driving the right rudder (5), and the left rudder (4) and the right rudder (5) deflect synchronously to generate a yawing moment together;
the tail rudder control unit includes a yaw rate gyro (7), a yaw rate commander (71) and a yaw rate controller (72), and includes: a yaw rate commander (71) and a yaw rate controller (72) are connected to the rudder control unit in this order, and a yaw rate gyro (7) is connected to the yaw rate controller (72).
2. A rotation speed differential anti-rolling stability-increasing method for an unmanned ship is characterized by comprising the following steps: comprising the unmanned boat (1) rotational speed differential roll stabilization and augmentation system of claim 1, further comprising roll angular velocity stabilization and control, and yaw angular velocity stabilization and control steps, wherein,
the specific steps of roll angular speed stability augmentation and control comprise:
the roll angular velocity instruction device (61) is connected with the upper computer, generates a roll angular velocity instruction uP according to a roll angular error e phi given by the upper computer and sends the roll angular velocity instruction uP to the roll angular velocity controller (62);
meanwhile, a rolling angular rate gyro (6) detects the rolling angular rate P of the unmanned ship (1) and sends the rolling angular rate P to a rolling angular rate controller (62);
then, the roll angular speed controller (62) calculates a roll angular speed error eP according to the roll angular speed command uP and the roll angular speed P; the roll angular speed controller (62) generates a rotational speed differential increment control command u delta omega according to the roll angular speed error eP, so as to obtain a rotational speed increment control command u omega of the left propeller thruster (2)LAnd the rotating speed increment control of the right propeller (3)Command u omegaRAnd u ΩLAnd u ΩREqual in size and opposite in direction;
the roll rate controller (62) will control u omegaLAnd u ΩRRespectively sent to a left driving mechanism (21) and a right driving mechanism (31); under the action of a differential increment control command u delta omega, the left propeller thruster (2) and the right propeller thruster (3) generate controllable roll torque L and corresponding roll angular speed P, so that the roll angular speed stability enhancement and control are realized;
the specific steps of the yaw rate stability augmentation and control comprise:
the yaw rate commander (71) is connected with the upper computer, generates a yaw rate command uR according to a yaw rate error e psi given by the upper computer and sends the command uR to the yaw rate controller (72);
meanwhile, a yaw rate gyro (7) detects a yaw rate R of the unmanned ship (1) and sends the yaw rate R to a yaw rate controller (72);
then, the yaw rate controller (72) calculates a yaw rate error eR according to the yaw rate command uR and the yaw rate R; then, the yaw rate controller (72) generates a tail rudder synchronous control command u theta according to the yaw rate error eR, so that a control command u theta of the left rudder (4) is obtainedLControl command u theta with right rudder (5)RAnd the control command u theta of the left rudder (4)LControl command u theta with right rudder (5)RThe sizes are equal and the directions are the same;
the yaw rate controller (72) controls u thetaLAnd u ΘRA left steering engine (41) and a right steering engine (51) which are sent to the tail rudder part; at u ΘLAnd u ΘRUnder the action of the control system, the left rudder (4) and the right rudder (5) deflect synchronously to generate a yaw moment N and a corresponding yaw angular speed R, so that the stability of the yaw angular speed is increased and controlled.
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| CN103640675A (en) * | 2013-12-18 | 2014-03-19 | 江苏科技大学 | Amphibious unmanned surface vehicle with three bodies |
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| CN106143801A (en) * | 2016-07-29 | 2016-11-23 | 武汉理工大学 | A kind of unmanned boat utilizing light wave complementary duty |
| CN106527133A (en) * | 2016-11-11 | 2017-03-22 | 哈尔滨工程大学 | Multi-paddle coordination control distribution method for ship |
| CN108427416A (en) * | 2018-04-04 | 2018-08-21 | 上海华测导航技术股份有限公司 | A kind of unmanned boat differential automatic steering control system and control method |
| CN209433202U (en) * | 2018-12-05 | 2019-09-24 | 山东智翼航空科技有限公司 | Unmanned ship rotation speed differential stabilization system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111114733A (en) * | 2019-12-26 | 2020-05-08 | 中国科学院光电研究院 | High-altitude airship and yaw control method thereof |
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