CN116679693A - Unmanned ship active disturbance rejection control method integrating propeller hydrodynamic force - Google Patents
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Abstract
The unmanned ship active disturbance rejection control method based on the propeller hydrodynamic force is characterized in that a dynamic model of the unmanned ship on the water surface is firstly established, then a stress model of the unmanned ship is analyzed, acting force and moment which are interfered by wind waves and water flow are estimated, the movement state change of the unmanned ship is fed back in real time, and an unmodeled part and an uncertain part are observed in real time by using an expanded state observer. The control law is designed based on the active disturbance rejection control method, wind waves, water flow disturbance and gravity center change conditions are added in the control law of the propeller, and the control law can be compensated timely when external environment interference and uncertainty interference are met, so that stable sailing is realized.
Description
Technical Field
The invention relates to the field of unmanned surface vehicle motion control, in particular to an unmanned surface vehicle active disturbance rejection control method integrating propeller hydrodynamic force.
Background
The unmanned surface vehicle is a multifunctional and high-performance water surface robot designed based on task purposes, has small volume, low cost and strong maneuverability, so that the unmanned surface vehicle plays a great role in the military and civil fields, but the movement control of the unmanned surface vehicle has high coupling degree, nonlinearity, instability and parameter uncertainty, and is difficult to achieve the expected control target in the actual sailing process.
In order to meet the navigation task requirements of the unmanned surface vehicle, high-precision attitude control is indispensable, however, the unmanned surface vehicle can encounter various uncertain external factor interference in the actual navigation process, so that tracking is inaccurate, and thus high-precision attitude control of the unmanned surface vehicle can not be realized, even normal navigation is influenced, for example, wind waves and water flow disturbance has a certain influence on state vectors such as heading angle, roll angle and position of the unmanned surface vehicle, so that deviation exists between the actual navigation attitude angle and an expected attitude angle, various control schemes including sliding mode control, thrust back, active disturbance and the like are proposed for improving the stability performance of unmanned surface vehicle control, and the traditional control scheme is difficult to realize the required control performance, so that real-time estimation and compensation of disturbance parts are required in the motion control of the unmanned surface vehicle.
In order to solve the above problems, the prior art is as follows:
publication No.: CN113900372a, application name: the application discloses an unmanned ship course maintaining method based on neural network active disturbance rejection control, which comprises the following steps: step A: positioning the azimuth of the hull and the heading of the unmanned ship through a gyro compass so as to determine the actual heading of the unmanned ship; and (B) step (B): judging whether a heading deviation angle exists according to a preset heading and an actual heading of the unmanned ship, and if so, inputting the heading deviation angle into a neural network active disturbance rejection controller; step C: the rotating speed of the left motor and the right motor of the unmanned ship is regulated and controlled through the neural network active disturbance rejection controller, and the direction of the propeller is regulated through the left motor and the right motor of the unmanned ship, so that the unmanned ship keeps heading. The invention can detect the actual course of the unmanned ship in real time and compare with the set course, and then adjust the rotating speeds of the left motor and the right motor to realize the control of the angle, so that the course of the unmanned ship can be kept from being deviated due to the external force on the water surface, and the problems of increasing the advancing distance and advancing time caused by re-planning the course can be avoided.
The method adopts the scheme that the deviation angle generated by the preset heading and the actual heading of the unmanned ship is input to a neural network active disturbance rejection controller, the rotating speeds of a left motor and a right motor of the unmanned ship are regulated and controlled through the neural network active disturbance rejection controller, and the direction of a propeller is regulated through the left motor and the right motor of the unmanned ship. The scheme is that the deviation of the course angle and the roll angle, the differential deviation and the gravity center deviation of the unmanned ship are input into the active disturbance rejection controller, so that the movement state of the unmanned ship can be reflected better, and meanwhile, the wind wave and water flow are mixed into the control law of the propeller model, the rotating speeds of the left and right propellers are adjusted in real time according to the interference condition, the thrust of the propellers is controlled to overcome the external interference, and the unmanned ship can be more suitable for sailing in complex water area environments with the interference of the wind wave, the water flow and the like.
Publication No.: CN109977587B, application name: the application discloses a design method of a speed controller of a direct current motor-propelled unmanned surface vehicle, which comprises the following steps: s1, establishing a direct current motor model for propelling the unmanned surface vessel, a propeller model of the unmanned surface vessel and a forward speed model of the unmanned surface vessel; s2, building a direct current motor propelled unmanned surface vessel model according to each model in the step S1; s3, approximating an uncertain item by adopting a navigation speed identifier and a rotating speed identifier based on a neural network according to the uncertain item of the unmanned surface vessel model propelled by the direct current motor; s4, obtaining uncertain item information from the navigational speed identifier and the rotating speed identifier, and adopting a dynamic surface control design method to design a direct current motor to propel the unmanned surface vehicle speed controller. Compared with the existing unmanned surface vessel speed controller, the invention approximates uncertainty in the speed dynamics of the direct current motor, the propeller and the unmanned surface vessel by adopting the identifier based on the neural network, and effectively improves the dynamic response speed of the unmanned surface vessel speed control system.
According to the scheme, according to an uncertain item of an unmanned surface vessel model propelled by a direct current motor, a navigation speed identifier and a rotating speed identifier based on a neural network are adopted to approach the uncertain item, and a dynamic surface control design method is adopted to design a direct current motor to propel an unmanned surface vessel speed controller. The scheme adopted by the unmanned aerial vehicle is that an expanded state observer ESO is utilized to observe an unmodeled part and uncertain disturbance of the unmanned aerial vehicle, the unmodeled part and the uncertain disturbance are compensated to an input end in real time, and the deviation of the heading angle and the roll angle of the unmanned aerial vehicle, the differential deviation and the deviation of the gravity center are input into an active disturbance rejection controller. The interference to wind wave and water flow is to establish a control law of a propeller hydrodynamic model, control the thrust output by the left propeller and the right propeller, and adjust the deviation of the course angle and the roll angle.
The unmanned surface vehicle is often subjected to uncertainty of own parameters and uncertainty of external environment interference in the navigation process, so that the problems of real-time estimation and compensation of the uncertainty of own parameters and the uncertainty of external environment interference of the unmanned surface vehicle are required to be solved in order to improve the control performance of the unmanned surface vehicle and the navigation safety coefficient. The invention improves on the basis of an active disturbance rejection control method, utilizes an extended state observer to observe an unmodeled part and an uncertain part in real time, adds the deviation change conditions of gravity center, attitude angle and attitude angle differentiation to an active disturbance rejection control law input end, can adjust a course angle in real time under a water flow disturbance environment, tracks a roll angle in real time under wind wave disturbance, compensates disturbance in real time, controls a state model of the thrust of an output propeller against the fluid power and the wind wave disturbance, and ensures that the unmanned ship can safely and stably work on the water surface.
Disclosure of Invention
In order to solve the technical problems, the invention provides the unmanned ship active disturbance rejection control method integrating the propeller hydrodynamic force, which is used for enabling the unmanned ship on the water surface to keep the stability of the attitude angle under the condition of the interference of external environment wind, waves, currents and the like on the basis of the active disturbance rejection control method, analyzing the water flow acting force of the unmanned ship, correcting the deviation of the attitude angle in real time, and designing and controlling the thrust of the propeller so as to enable the unmanned ship to be more suitable for the complex water surface environment.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the invention provides an unmanned ship active disturbance rejection control method integrating propeller hydrodynamic force, which specifically comprises the following steps:
1) Establishing a dynamic model of the unmanned surface vehicle;
the dynamic model of the unmanned surface vessel is built in the step 1), and the specific process is as follows:
the under-actuated unmanned surface vehicle comprises six degrees of freedom motions, three directions of translational motions and three directions of rotation, in the practical situation, as the motions of the ship body are carried out on the water surface, the motion states of pitching and heaving can be ignored in the kinematic analysis of the unmanned surface vehicle, and only the motion states of the unmanned surface vehicle with four degrees of freedom in pitching, heaving, rolling and swaying are considered, so that a dynamic model of the under-actuated unmanned surface vehicle with four degrees of freedom is established, wherein the dynamic model comprises the following steps:
wherein (x, y) is a position vector, u r And v r The pitch and yaw speeds of the unmanned ship relative to the wind wave and the water flow are respectively phi, phi is a roll angle, phi is a course angle, p is a roll angle speed, r is a yaw angle speed, tau u For longitudinal thrust, τ r For turning bow moment, τ w ＝[τ wu (t) τ wv (t) τ wp (t) τ wr (t)] T The acting force and moment of the unmanned ship are disturbed by the external environment;
m is a system inertia matrix, and the expression is:
C(y r ) For the coriolis centripetal force matrix, the expression is:
D(ν r ) The expression is as follows:
2) Designing a water surface unmanned ship attitude tracking active disturbance rejection control law;
the attitude tracking active disturbance rejection control law of the unmanned surface vehicle is designed in the step 2), and the specific process is as follows:
3.1 giving the desired attitude angle θ d ＝[φ d ψ d ] T Attitude angle differentiationThe initial barycentric position is located at the origin O of the coordinate system, denoted +.>The actual attitude angle phi and phi of the unmanned ship meets the condition phi min ≤φ≤φ ma 、ψ min ≤ψ≤ψ max And the attitude angle of the unmanned ship rotating clockwise around the coordinate axis is positive, the attitude angle rotating anticlockwise is negative, and the actual attitude angle is differentiated +.>Obtained from the extended state observer ESO;
3.2 comparing deviations between expected values and actual values of attitude angles, attitude angle differentials and barycentric coordinates, and expressing an error equation as follows:
e θ ＝θ d -θ
e ω ＝θ ω -θ
3.3k 1 is the attitude angle error coefficient, k 2 Is the differential error coefficient of attitude angle, k 3 Is the coefficient of gravity center abscissa error, k 4 For the ordinate error coefficient of the gravity center, the design of the active disturbance rejection control law output u is as follows:
u＝k 1 e θ +k 2 e ω +k 3 e x +k 4 e y
3.4 extended State observer ESO observes internal uncertainty and disturbance of the external unmodeled section, noted asThe real-time compensation is carried out to the input end for control, so that the final output of the active disturbance rejection control method is +.>The function satisfies the linear function relation, k b Is a disturbance part coefficient;
3) And designing a propulsion model of the propeller of the unmanned surface vehicle under the interference of wind waves and water flow, and adjusting the roll angle and the course angle in real time.
As a further improvement of the invention, the propeller model of the unmanned surface vessel under the interference of wind waves and water currents is designed in the step 3), and the roll angle and the course angle are adjusted in real time, and the specific process is as follows:
4.1 controlling the propeller of the actuator of the unmanned ship to be differential control, namely realizing autonomous sailing of the unmanned ship in any direction by outputting the thrust of two propellers, wherein the thrust of the propellers is related to the fluid density, the diameter and the rotating speed of the propellers, the advance speed, the viscosity coefficient of fluid movement and the like, and in still water, the thrust is F=K F ρn 2 D 4 ，K F Is the thrust coefficient of the propeller, ρ is the positionThe density of water in the water environment, n is the rotating speed of the propeller, and D is the diameter of the propeller;
4.2 under the interference of water flow, the actual course angle of the unmanned ship is deviated from the expected course angle, if ψ is d More than psi, the actual course angle is smaller than the reference course angle, the thrust of the right propeller is needed to be increased to adjust the course, if psi d And < psi, showing that the actual course angle is larger than the reference course angle, and increasing the thrust of the left propeller to adjust the course, so that a propeller state model capable of adjusting the course angle in real time under the water flow interference environment is designed:
F wr ＝K r ρAv c 2 cos(ψ c -ψ)
wherein F is wr K acting force applied to the propeller to overcome water flow disturbance r A is the stressed area of the propeller blade, v c Is the flow velocity of water, ψ c The water flow direction is the actual course angle of the unmanned ship;
4.3 under the disturbance of wind and waves, the change of the roll angle of the unmanned ship is considered, and the expected roll angle phi of the unmanned ship in the actual sailing process d =0, when-phi a ≤φ≤φ a When the unmanned ship is used, the influence of small change of the roll angle on the movement state of the unmanned ship is ignored, phi a To allow the maximum angle of small variation of unmanned ship roll angle, if phi > phi a The practical roll angle is larger than the maximum acceptable roll angle, the unmanned ship leans right, the thrust of the right propeller is required to be increased according to the right leaning amplitude of the unmanned ship to reach an equilibrium state, and if phi is less than-phi a The practical roll angle is smaller than the minimum acceptable roll angle of the unmanned ship, the unmanned ship tilts left, the thrust of the left propeller is required to be increased according to the left tilting amplitude of the unmanned ship to reach an equilibrium state, and therefore, a propeller state model capable of adjusting the roll angle in real time under the wind and wave interference environment is designed:
F wp ＝K p ρge -k/n Sφsgn(φ)
wherein F is acting force applied by the propeller to overcome wind and wave disturbance, K p Is the force coefficient of wind and wave, k is an exponential functionThe number correction coefficient, g is the gravity acceleration, n is the rotating speed of the propeller, phi is the actual roll angle of the unmanned ship, S is the immersion surface area of the unmanned ship, sgn (phi) is a sign function, and the value is as follows:
4.4 the active disturbance rejection control law adds the attitude angle error, the attitude differential error and the gravity center offset to the input end, so as to better evaluate whether the system reaches a steady state or not and output u 0 Further inputting the motion state of the unmanned ship into a control law of a propeller model, better realizing the control of the motion state of the unmanned ship, and establishing an active disturbance rejection output u below 0 With propeller thrust magnitude F 0 Functional relationship between:
wherein K is F The thrust coefficient of the propeller is n, the rotating speed of the propeller is n, and D is the diameter of the propeller;
4.5 adding water flow disturbance and wind wave disturbance into a control law of a propeller model on the basis of active disturbance rejection control:
wherein F is L F is the thrust of the left propeller R Is the size of the right propeller.
Compared with the prior art, the technical scheme provided by the invention has the following technical effects:
the change of the gravity center of the unmanned ship influences the motion state of the unmanned ship, the change condition of the gravity center is added into the attitude active disturbance rejection control law of the unmanned ship, and other non-modeling disturbance and uncertain disturbance parts are observed through an expansion state observer, so that the motion state of the unmanned ship can be reflected better. Meanwhile, the invention determines the propeller propulsion of the unmanned ship under the interference of wind waves and water currents according to a propeller hydrodynamic control model.
Drawings
FIG. 1 is a schematic diagram of a modeling coordinate system of an unmanned boat;
fig. 2 is an overall structure diagram of a posture control method of the surface unmanned ship.
Detailed Description
The invention is described in further detail below with reference to the attached drawings and detailed description:
as shown in fig. 1, the under-actuated unmanned surface vehicle includes six degrees of freedom motions, three directions of translational motions and three directions of rotational motions, in practical situations, since the motions of the hull are performed on the water surface, the motion states of pitching and heaving can be ignored in the kinematic analysis of the unmanned surface vehicle, and only the motion states of the unmanned surface vehicle with four degrees of freedom in pitching, rolling and bowing are considered, so that the dynamic model of the under-actuated unmanned surface vehicle with four degrees of freedom is established:
wherein (x, y) is a position vector, u r And v r The pitch and yaw speeds of the unmanned ship relative to the wind wave and the water flow are respectively phi, phi is a roll angle, phi is a course angle, p is a roll angle speed, r is a yaw angle speed, tau u For longitudinal thrust, τ r For turning bow moment, τ w ＝[τ wu (t) τ wv (t) τ wp (t) τ wr (t)] T The force and moment to the unmanned ship are disturbed by the external environment.
M is a system inertia matrix, and the expression is:
C(ν r ) For the coriolis centripetal force matrix, the expression is:
D(v r ) The expression is as follows:
as shown in fig. 2, the overall structure diagram of the attitude control method of the unmanned surface vehicle comprises an active disturbance rejection control law integrated with the attitude angle, the attitude angle differential and the gravity center deviation variation, and a propeller model control law integrated with wind wave disturbance, water flow disturbance and active disturbance rejection output, wherein the active disturbance rejection control law output expression is as follows:
u＝k 1 e θ +k 2 e ω +k 3 e x +k 4 e y
wherein k is 1 Is the attitude angle error coefficient, k 2 Is the differential error coefficient of attitude angle, k 3 Is the coefficient of gravity center abscissa error, k 4 Is the ordinate error coefficient of the gravity center, e θ E is the attitude angle error ω E is the angular velocity error x Error of abscissa of gravity, e y The ordinate error of the center of gravity.
The extended state observer ES0 observes internal uncertainty and disturbance of the external unmodeled section, noted asThe real-time compensation is carried out to the input end for control, so that the final output of the active disturbance rejection control method is +.>The function satisfies the linear function relation, k b Is a perturbation part coefficient.
The active disturbance rejection control law adds the attitude angle error, the attitude differential error and the gravity center offset into the input end, so that whether the system reaches a steady state or not can be better evaluated, and the output u 0 Further input into the control law of the propeller model, the control of the unmanned ship movement state can be better realized. At the position ofOn the basis of active disturbance rejection control, adding water flow disturbance and wind wave disturbance into a control law of a propeller model:
wherein F is L F is the thrust of the left propeller R Is the size of the right propeller, K r A is the stressed area of the propeller blade, v c Is the flow velocity of water, ψ c Is the water flow direction, psi is the actual course angle of the unmanned ship, K F For the thrust coefficient of the propeller, n 1 For the rotation speed of the left propeller, n 2 The rotating speed of the right propeller is D, the diameter of the propeller is K p For the wind wave acting force coefficient, k is an exponential function correction coefficient, g is gravity acceleration, phi is the actual roll angle of the unmanned ship, S is the submerging surface area of the unmanned ship, sgn (phi) is a sign function, and the values are as follows:
the above description is only of the preferred embodiment of the present invention, and is not intended to limit the present invention in any other way, but is intended to cover any modifications or equivalent variations according to the technical spirit of the present invention, which fall within the scope of the present invention as defined by the appended claims.
Claims (2)
1. The unmanned ship active disturbance rejection control method integrating the propeller hydrodynamic force is characterized by comprising the following steps of: the method specifically comprises the following steps:
1) Establishing a dynamic model of the unmanned surface vehicle;
the dynamic model of the unmanned surface vessel is built in the step 1), and the specific process is as follows:
the under-actuated unmanned surface vehicle comprises six degrees of freedom motions, three directions of translational motions and three directions of rotation, in the practical situation, as the motions of the ship body are carried out on the water surface, the motion states of pitching and heaving can be ignored in the kinematic analysis of the unmanned surface vehicle, and only the motion states of the unmanned surface vehicle with four degrees of freedom in pitching, heaving, rolling and swaying are considered, so that a dynamic model of the under-actuated unmanned surface vehicle with four degrees of freedom is established, wherein the dynamic model comprises the following steps:
wherein (x, y) is a position vector, u r And v r The pitch and yaw speeds of the unmanned ship relative to the waves and currents are the roll angle, ψ is the heading angle, p is the roll angle speed, r is the yaw angle speed, τ u For longitudinal thrust, τ r For turning bow moment, τ w ＝[τ wu (t) τ wv (t) τ wp (t) τ wr (t)] T The acting force and moment of the unmanned ship are disturbed by the external environment;
m is a system inertia matrix, and the expression is:
C(v r ) For the coriolis centripetal force matrix, the expression is:
D(ν r ) The expression is as follows:
2) Designing a water surface unmanned ship attitude tracking active disturbance rejection control law;
the attitude tracking active disturbance rejection control law of the unmanned surface vehicle is designed in the step 2), and the specific process is as follows:
3.1 giving the desired attitude angle θ d ＝[φ d ψ d ] T Attitude angle differentiationThe initial barycentric position is located at the origin O of the coordinate system, denoted +.>The actual attitude angle phi and phi of the unmanned ship meets the condition +.>ψ min ≤ψ≤ψ max And the attitude angle of the unmanned ship rotating clockwise around the coordinate axis is positive, the attitude angle rotating anticlockwise is negative, and the actual attitude angle is differentiated +.>Obtained from the extended state observer ESO;
3.2 comparing deviations between expected values and actual values of attitude angles, attitude angle differentials and barycentric coordinates, and expressing an error equation as follows:
e θ ＝θ d -θ
e ω ＝θ ω -θ
3.3k 1 is the attitude angle error coefficient, k 2 Is the differential error coefficient of attitude angle, k 3 Is the coefficient of gravity center abscissa error, k 4 For the ordinate error coefficient of the gravity center, the design of the active disturbance rejection control law output u is as follows:
u＝k 1 e θ +k 2 e ω +k 3 e x +k 4 e y
3.4 extended State observer ESO observes internal uncertainty and disturbance of the external unmodeled section, noted asThe real-time compensation is carried out to the input end for control, so that the final output of the active disturbance rejection control method is +.>The function satisfies the linear function relation, k b Is a disturbance part coefficient;
3) And designing a propulsion model of the propeller of the unmanned surface vehicle under the interference of wind waves and water flow, and adjusting the roll angle and the course angle in real time.
2. The unmanned ship active disturbance rejection control method based on the fusion of propeller hydrodynamic force according to claim 1, wherein the unmanned ship active disturbance rejection control method is characterized in that:
the propeller model of the unmanned surface vessel under the interference of wind waves and water flows is designed in the step 3), and the roll angle and the course angle are adjusted in real time, and the specific process is as follows:
4.1 controlling the propeller of the actuator of the unmanned ship to be differential control, namely realizing autonomous sailing of the unmanned ship in any direction by outputting the thrust of two propellers, wherein the thrust of the propellers is related to the fluid density, the diameter and the rotating speed of the propellers, the advance speed, the viscosity coefficient of fluid movement and the like, and in still water, the thrust is F=K F ρn 2 D 4 ，K F The thrust coefficient of the propeller is ρ which is the density of water in the water environment, n is the rotating speed of the propeller, and D is the diameter of the propeller;
4.2 under the interference of water flow, the actual course angle of the unmanned ship is deviated from the expected course angle, if ψ is d More than psi, the actual course angle is smaller than the reference course angle, the thrust of the right propeller is needed to be increased to adjust the course, if psi d < psi, the actual course angle is larger than the reference course angle, the thrust of the left propeller is required to be increased to adjust the course, therefore, a spiral capable of adjusting the course angle in real time under the water flow interference environment is designedPaddle state model:
F wr ＝K r ρAv c 2 cos(ψ c -ψ)
wherein F is wr K acting force applied to the propeller to overcome water flow disturbance r A is the stressed area of the propeller blade, v c Is the flow velocity of water, ψ c The water flow direction is the actual course angle of the unmanned ship;
4.3 under the disturbance of wind and waves, the change of the roll angle of the unmanned ship is considered, and the expected roll angle phi of the unmanned ship in the actual sailing process d =0, when-phi a ≤φ≤φ a When the unmanned ship is used, the influence of small change of the roll angle on the movement state of the unmanned ship is ignored, phi a To allow the maximum angle of small variation of unmanned ship roll angle, if phi > phi a The practical roll angle is larger than the maximum acceptable roll angle, the unmanned ship leans right, the thrust of the right propeller is required to be increased according to the right leaning amplitude of the unmanned ship to reach an equilibrium state, and if phi is less than-phi a The practical roll angle is smaller than the minimum acceptable roll angle of the unmanned ship, the unmanned ship tilts left, the thrust of the left propeller is required to be increased according to the left tilting amplitude of the unmanned ship to reach an equilibrium state, and therefore, a propeller state model capable of adjusting the roll angle in real time under the wind and wave interference environment is designed:
F wp ＝K p ρge -k/n Sφsgn(φ)
wherein F is wp K is the acting force applied by the propeller to overcome the disturbance of wind and wave p The wind wave acting force coefficient, k is an exponential function correction coefficient, g is gravity acceleration, n is propeller rotating speed, phi is actual roll angle of the unmanned ship, S is the submerging surface area of the unmanned ship, sgn (phi) is a sign function, and the values are as follows:
4.4 the active disturbance rejection control law adds the attitude angle error, the attitude differential error and the gravity center offset to the input end, so as to better evaluate the systemWhether or not to reach steady state, output u 0 Further inputting the motion state of the unmanned ship into a control law of a propeller model, better realizing the control of the motion state of the unmanned ship, and establishing an active disturbance rejection output u below 0 With propeller thrust magnitude F 0 Functional relationship between:
wherein K is F The thrust coefficient of the propeller is n, the rotating speed of the propeller is n, and D is the diameter of the propeller;
4.5 adding water flow disturbance and wind wave disturbance into a control law of a propeller model on the basis of active disturbance rejection control:
wherein F is L F is the thrust of the left propeller R Is the size of the right propeller.
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| CN117742352A (en) * | 2024-02-21 | 2024-03-22 | 陕西欧卡电子智能科技有限公司 | Vector propulsion unmanned ship-based track control method, device, equipment and medium |
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| CN117742352B (en) * | 2024-02-21 | 2024-05-10 | 陕西欧卡电子智能科技有限公司 | Vector propulsion unmanned ship-based track control method, device, equipment and medium |
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