CN209327875U - Unmanned ship rolling-course coordination stability augmentation control system - Google Patents
Unmanned ship rolling-course coordination stability augmentation control system Download PDFInfo
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Abstract
The utility model provides a roll-course coordination and stability augmentation control system of unmanned ship, including propulsion portion, propulsion control portion, tail rudder control portion and coordination control portion, the propulsion portion includes left displacement screw, left actuating mechanism, right displacement screw and right actuating mechanism, and left displacement screw and right displacement screw rotation direction are opposite, produce the roll moment through the differential and the rotational speed difference of pitch; the propulsion control part comprises a rolling angular speed gyro, a rolling angular speed commander and a rolling angular speed controller and is used for increasing the stability of the 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 increasing stability by yawing; the coordination control unit is used for roll-yaw coordination control. The roll-yaw control quality can be improved by taking the coordination control of the double variable pitch propellers and the double rudder surfaces as a stabilizing and stabilizing mode of the unmanned ship.
Description
Technical Field
The utility model relates to an unmanned ship roll over-course is coordinated and is increased steady control system mainly uses in unmanned ship control technology field, can improve the manipulation quality of 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: the ship comprises a catamaran, bilge keels, anti-rolling fins, anti-rolling water tanks, rudders 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 has large occupied area and high power consumption, and is less used at present; rudder stabilization generates additional roll moments through tail rudder deflection, thus introducing unwanted yaw moments during operation.
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 utility model utilizes the reaction torque of double propellers, directly generates the anti-rolling moment with fast and stable speed through differential propeller pitch and differential rotating speed, and realizes the stability increase of the rolling angular speed; by adjusting the control gain of the differential pitch and the differential rotation speed, a plurality of time-varying matching control modes can be formed; the double-tail rudder is utilized to generate yawing moment, so that the yawing moment caused by double propeller pitch differential motion and rotating speed differential motion is overcome, and the stability increase of the yawing angular speed is realized; in order to further enhance the control effect on the roll angular velocity and the yaw angular velocity, a yaw-roll coupling control and a roll-yaw coupling control are introduced, wherein: the yaw-roll coupling control enhances the control effect on the roll angular speed through yaw control; the roll-yaw coupling enhances the control effect on the yaw rate through roll manipulation.
Compare with traditional stabilization method that subtracts, the utility model discloses avoided the unnecessary driftage moment that the stabilization in-process produced, simple structure, light in weight, low power dissipation moreover, the unmanned ship of the high speed of being convenient for is carried on.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that will solve is: in order to overcome the defects of small rotational inertia, poor transverse stability and easy side turning of the unmanned ship in the prior art, the utility model provides a rolling-course coordinated stability augmentation control system and method of the unmanned ship, which improves the control quality of the unmanned ship.
The utility model provides a technical scheme that its technical problem will adopt is: an unmanned ship stabilizing and stabilizing system and a method thereof, which comprises a propelling part, a rolling stabilizing and increasing part, a tail rudder part, a yawing stabilizing and increasing part and a coupling control part, wherein,
propulsion portion includes left variable pitch propeller, left actuating mechanism, right variable pitch propeller and right actuating mechanism to there are:
the left driving mechanism drives the left variable pitch propeller, the right driving mechanism drives the right variable pitch propeller, the rotating directions of the left variable pitch propeller and the right variable pitch propeller are opposite, and when thrust is generated, rolling moment and auxiliary yawing moment are generated through differential pitch and differential rotation speed;
preferably, the economic rotating speed of the engine and the corresponding rotating speed ranges of the left variable pitch propeller and the right variable pitch propeller are selected according to an oil consumption-power curve of the engine;
preferably, the differential pitch is taken as a main part, the differential rotation speed is taken as an auxiliary part, and the differential rotation speed of the left variable pitch propeller and the right variable pitch propeller is controlled in a differential mode to further enhance the rolling torque through the auxiliary differential pitch;
the roll stability augmentation part comprises a roll angular rate gyro, a roll angular rate commander and a roll 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 a left rudder, the right rudder is used for driving a right rudder, and a yaw moment and an auxiliary rolling moment are generated through synchronous deflection of the left rudder and the right rudder;
the yaw stabilizing part comprises a yaw angular velocity gyro, a yaw angular velocity commander and a yaw angular velocity 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;
the coupling control part comprises a rolling-yawing coupling controller and a yawing-rolling coupling controller, wherein the rolling-yawing coupling controller is connected with the rolling angular velocity commander and the yaw angular velocity controller and is used for generating the coupling control of rolling to yawing; and the yaw-roll coupling controller is connected with the yaw angular speed commander and the roll angular speed controller and is used for generating the coupling control of yaw to roll.
A roll-course coordination stability augmentation control method for an unmanned ship comprises the roll stabilization and stability augmentation system for the unmanned ship, and further comprises the steps of roll angular velocity stability augmentation, yaw angular velocity stability augmentation and roll-yaw coupling control, wherein,
the roll angular speed stabilization is used for maintaining a desired roll angular speed, and the specific steps 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, a rolling angular rate gyro detects the rolling angular rate P of the unmanned ship and sends the rolling angular rate P to a rolling 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 roll angular speed stability augmentation instruction uLat according to the roll angular speed error ePP：
Wherein,is a control scaling factor; p is the roll rate detected by the roll rate gyro;
rolling angular velocity stability augmentation instruction uLatPBy varying the speed omega of the left variable-pitch propellerLAnd the rotation speed omega of the right variable pitch propellerREliminating the rolling angular speed error eP to realize the stability enhancement and control of the rolling angular speed;
by varying the speed omega of the left variable-pitch propellerLAnd the rotation speed omega of the right variable pitch propellerRIn the process, the thrust of the left variable pitch propeller and the thrust of the right variable pitch propeller are differentiated, and then unnecessary yaw moment N is generatedΩ(ii) a To overcome NΩThe influence of (3) needs to cooperate with synchronous deflection of a tail vane to realize the stability-increasing control of the yaw angular speed;
the yaw rate augmentation is used for maintaining a desired yaw rate, and comprises the following specific steps:
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 (3)
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 yaw rate stability augmentation instruction uRud according to the yaw rate error eRR：
Wherein,is a control proportionality coefficient, R is a yaw rate detected by a yaw rate gyro;
in order to further enhance the control effect on the roll angular speed and the yaw angular speed, a coupling control part is introduced; the coupling control section includes yaw-roll coupling control and roll-yaw coupling control, wherein: the yaw-roll coupling control enhances the control effect on the roll angular speed through yaw control; the roll-yaw coupling enhances the control effect on the yaw angular speed through roll control;
the roll-yaw coupling control method specifically comprises the following steps:
the roll-yaw coupling controller is connected with the yaw rate commander, and calculates to obtain a roll coupling command according to a yaw rate command uR generated by the yaw rate commanderuLatRTo assist in roll control;
optionally, the roll coupling instruction uLatRAdopting a proportion calculation mode:
wherein,the roll-yaw coupling proportionality coefficient is used for realizing yaw control based on roll control;
the roll instruction uLat is increased from the roll stability instruction uLatPAnd roll coupling command uLatRSynthesizing to obtain; wherein, the rolling stability-increasing instruction uLatPThe device is used for generating rolling torque to eliminate rolling angular speed error eP and realize rolling angular speed stability enhancement and control; rolling coupling instruction uLatRThe roll torque control device is used for generating auxiliary roll torque so as to enhance the control effect of the roll angular speed; and the rolling instruction uLat is sent to the left variable pitch propeller, the right variable pitch propeller, the left driving mechanism and the right driving mechanism, so that the rolling stability enhancement and the control are realized:
obtaining a propeller pitch increment control command u delta theta as lambda according to the rolling command uLat1ula and a rotational speed increment command u Δ Ω ═ λΩuLat; further obtaining a pitch increment control instruction u delta theta of the left variable pitch propellerLU Δ θ and pitch increment control command u Δ θ of right variable pitch propellerR-u Δ θ, wherein u Δ θLAnd u Δ θREqual in size and opposite in direction; simultaneously obtaining a rotating speed increment instruction u delta omega of the left driving mechanismLU Δ Ω and u Δ ΩR-u Δ Ω, wherein u Δ ΩLAnd u Δ ΩREqual in size and opposite in direction; the calculation formula is as follows:
wherein, thetaL0And thetaR0The original pitches of the left variable pitch propeller and the right variable pitch propeller are respectively set; Δ represents an increment; u Δ θLAnd u Δ θRThe control commands are differential pitch increment control commands with the same amplitude and opposite signs; u thetaLAnd u θRThe synthesized pitch instruction is sent to the left variable pitch propeller and the right variable pitch propeller respectively; left and right variable pitch propellers according to u thetaLAnd u θRTo a corresponding pitch angle thetaLAnd thetaR；
Wherein omegaL0And ΩR0The original rotating speeds of the left variable pitch propeller and the right variable pitch propeller are respectively set; u Δ ΩLAnd u Δ ΩRThe control commands are differential rotating speed increment control commands with the same amplitude and opposite signs; u omegaLAnd u ΩRIs a synthesized rotating speed control instruction and is sent to a left driving mechanism and a right driving mechanism of the propelling part; the left driving mechanism and the right driving mechanism are respectively based on u delta thetaLAnd u Δ θRDriving the left variable pitch propeller and the right variable pitch propeller to reach corresponding rotating speed omegaLAnd ΩR；
Wherein,andthe control efficiency factors, lambda, for the pitch increment control command u delta theta and the rotational speed increment control command u delta omega, respectivelyθOr λΩ1 means that the pitch increment control or the rotational speed increment control is completely effective, and 0 means that the pitch increment control or the rotational speed increment control is completely lostEffect is achieved; changing lambdaθAnd λΩDifferent control modes can be generated;
alternatively, λθ＝1,λΩThe pitch differential stability augmentation mode is completely adopted corresponding to 0, and the propeller pitch differential stability augmentation method has the advantages of fast operation response and small working pressure of a propeller driving mechanism; the disadvantage is that the control gain is smaller than the rotation speed differential;
alternatively, λθ＝0,λΩ1 corresponds to a stability increasing mode which completely adopts the rotation speed differential motion, and has the advantages that the control gain is larger than the rotation speed differential motion; the disadvantages are slow operation response and large working pressure of the propeller driving mechanism;
preferably, λθ＝1,λΩ1 corresponds to a stability augmentation mode simultaneously adopting a pitch differential mode and a rotating speed differential mode, the pitch differential mode is used as a quick response control mode, and the rotating speed differential mode is used as an enhancement supplement control mode, so that the control gain is large; the response speed is high; by limiting the response speed of the rotational speed differential, the operating pressure on the propeller drive mechanism can be reduced.
Preferably, λθ＝fθ(t),λΩ＝fΩ(t) is a time-varying parameter adjusted in real time according to the working state, so that the hybrid control effect of differential pitch and differential rotation speed can be further enhanced, and the working pressure of the propeller driving mechanism is reduced;
since the propeller torque τ is proportional to the pitch angle θ, and is proportional to the square of the rotational speed Ω2In proportion, when the pitch differential or the rotational speed differential occurs between the left variable pitch propeller and the right variable pitch propeller, the rolling torque L is generated in the hullθAnd LΩThe formula for small perturbations, ignoring higher order terms, is:
wherein, IxxIs the rolling moment of inertia, L, of the unmanned shipPIs rolling and stabilizingControl moment, LRIs the roll-coupled control torque and,
τLand τRThe reaction torques, κ, of the left and right variable-pitch propellers, respectivelyτIs the reaction torque coefficient; by varying the pitch angle theta of the left-hand pitch propellerLAnd a rotational speed ΩLAnd pitch angle theta of right pitch propellerRAnd a rotational speed ΩRCan adjust the rolling moment L of the boat bodyPAnd the corresponding roll angular speed P, thereby realizing the stability augmentation and control of the roll angular speed P of the hull; at the same time, the above-mentioned manoeuvre may assist in generating a favourable yaw coupling moment NPAnd the unmanned ship is assisted to realize stability augmentation and control of yaw rate.
The yaw-roll coupling control method specifically comprises the following steps:
the yaw-roll coupling controller is connected with the roll angular velocity command device, and the yaw coupling command uRud is obtained through calculation according to the roll angular velocity command uP generated by the roll angular velocity command deviceP(ii) a Yaw command uRud is controlled by yawRCoupled with yaw instruction uRudPSynthesizing to obtain;
optionally, yaw coupling instruction uRudPAdopting a proportion calculation mode:
wherein,is a yaw-roll coupling proportionality coefficient for implementing roll control based on yaw manipulation; on yaw control instruction uRudRAnd yaw coupling instruction uRudPSynthesizing to obtain a yaw instruction uRud; wherein, the yaw control meansOrder uRudRThe yaw moment is generated to eliminate the yaw angular speed error eP and realize the stability augmentation and control of the yaw angular speed; yaw coupling instruction uRudPThe device is used for generating auxiliary yaw moment to enhance the control effect of yaw angular speed; the yaw instruction uRud is sent to a left steering engine and a right steering engine to realize yaw stability augmentation and control, and the method comprises the following specific steps:
the same control surface control instruction u delta can be obtainedLAnd u δR；
Wherein, IzzIs the yaw moment of inertia of the unmanned ship, NRIs a yaw stability-increasing control moment, NPIs the yaw coupling control moment of force,
ζ is the rudder efficiency coefficient of the tail rudder, ηLAnd ηRInitial yaw moment of the left rudder and the right rudder respectively; Δ represents an increment;
under the condition of differential pitch and differential rotation speed of the left variable pitch propeller and the right variable pitch propeller, thrust difference and yaw coupling moment N are generatedPTo strengthen the control effect on the yaw rate of the unmanned boat:
NP＝TLs1-TRs2(11)
wherein, TLAnd TRThrust of the left and variable-pitch propellers, s, respectively1And s2The moment arms of the left variable pitch propeller and the variable pitch propeller are respectively;
yaw rate controller will u δLAnd u δRThe left steering engine and the right steering engine are sent to a tail steering part; at u δLAnd u δRUnder the action of the wind power generator, the left rudder and the right rudder synchronously deflect to generate a yawing moment NRAnd the corresponding yaw rate R, the stability enhancement and the control of the yaw rate are realized;
the rolling coupling torque L is generated in the synchronous deflection process of the left rudder and the right rudderRThe method is used for assisting the unmanned ship to realize roll angular speed control so as to enhance the roll angular speed control effect of the unmanned ship:
LR＝(FL+FR)h (12)
wherein, FLAnd FRThe hydrodynamic force borne by the left rudder and the hydrodynamic force borne by the right rudder are respectively, and h is the force arm of the left rudder and the force arm of the right rudder;
the utility model has the advantages that: the utility model provides a roll-course coordination stability augmentation control system and method for unmanned ship, which realizes roll angular velocity stability augmentation through pitch differential motion and rotation speed differential motion; the yaw angle speed stability is increased by controlling the yaw angles of the left rudder and the right rudder; meanwhile, the yaw angular speed control effect is enhanced by utilizing the coupled yaw moment generated by the differential pitch and the differential rotation speed of the left variable pitch propeller and the right variable pitch propeller; the coupled rolling torque generated by the left rudder and the right rudder enhances the control effect of the rolling angular speed; the utility model uses the double variable pitch propeller and the double rudder surfaces as the stabilization control mode of the unmanned ship, and can generate the expected yaw rate while controlling the stabilization; the expected rolling angular speed can be generated while the heading stability-increasing control is carried out; the handling quality of the unmanned boat can be improved; compared with the traditional stabilization control method, the utility model has the advantages of simple principle, convenient adjustment and wide application range.
Drawings
The present invention will be further explained with reference to the drawings and examples.
FIG. 1 is a rear view of an unmanned ship rolling-course coordinated stability augmentation control system and method carried on the unmanned ship.
FIG. 2 is a side view of the roll-course coordinated stability augmentation control system and method carried on an unmanned ship.
FIG. 3 is a flow chart of a roll-course coordinated stability augmentation control system and method for an unmanned ship.
Fig. 4 is a schematic view (rear view) of an unmanned boat yawing to the right in a roll-course coordinated stability augmentation control manner.
Fig. 5 is a schematic (overhead) view of an unmanned boat yawing to the right in a roll-course coordinated stability augmentation control manner.
In the figure: 1. the unmanned ship comprises an unmanned ship, 2, a left pitch-variable propeller, 21, a left driving mechanism, 3, a right pitch-variable propeller, 31, a right driving mechanism, 4, a left rudder, 41, a left rudder, 5, a right rudder, 51, a right steering engine, 6, a rolling angular velocity gyro, 61, a rolling angular velocity commander, 62, a rolling angular velocity controller, 7, a yaw angular velocity gyro, 71, a yaw angular velocity commander, 72, a yaw angular velocity controller, 81, a rolling-yaw coupling controller, 82 and a yaw-roll coupling 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 roll-course coordination stability augmentation control system of the unmanned ship of the present invention mainly comprises a propulsion unit, a roll stability augmentation unit, a tail rudder unit, a yaw stability augmentation unit and a coupling control unit, wherein,
the propulsion portion includes left variable pitch propeller 2, left drive mechanism 21, right variable pitch propeller 3 and right drive mechanism 31, and has:
the left driving mechanism 21 drives the left variable pitch propeller 2, the right driving mechanism 31 drives the right variable pitch propeller 3, the left variable pitch propeller 2 and the right variable pitch propeller 3 have opposite rotating directions, and when thrust is generated, rolling moment and auxiliary yawing moment are generated through differential pitch and differential rotation speed;
preferably, the economic rotating speed of the engine and the corresponding rotating speed ranges of the left variable pitch propeller 2 and the right variable pitch propeller 3 are selected according to the fuel consumption-power curve of the engine;
preferably, the differential pitch is taken as the main and the differential rotation speed is taken as the auxiliary, and the differential rotation speed of the left variable pitch propeller 2 and the right variable pitch propeller 3 is controlled in a differential mode, so that the auxiliary differential pitch further enhances the rolling torque;
the roll stabilizing section 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 this order, 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 yaw moment and auxiliary rolling moment are generated through synchronous deflection of the left rudder 4 and the right rudder 5;
the yaw stabilizing 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.
The coupling control part is used for further enhancing the control effect on the roll angular speed and the yaw angular speed, and comprises a roll-yaw coupling controller 81 and a yaw-roll coupling controller 82, wherein the roll-yaw coupling controller 81 is connected with the roll angular speed commander 61 and the yaw angular speed controller 72 and is used for generating the roll-yaw coupling control; the yaw-roll coupling controller 82 is connected to the yaw rate commander 71 and the roll rate controller 62 for generating a coupled control of yaw to roll.
As shown in fig. 3-5, a roll-course coordinated stability augmentation control method for an unmanned ship comprises the roll stabilization augmentation system of the unmanned ship 1, and further comprises the steps of roll angular velocity stability augmentation and control, yaw angular velocity stability augmentation and control, and roll-yaw coupling control, wherein,
the roll angular speed stabilization and control is used for maintaining a desired roll angular speed, and the specific steps 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 roll angular velocity stability augmentation instruction uLat according to the roll angular velocity error ePP：
Wherein,is a control scaling factor; p is the roll angular velocity detected by the roll angular velocity gyro 6;
rolling type deviceAngular velocity stability augmentation instruction uLatPBy varying the speed omega of the left variable-pitch propeller 2LAnd the rotation speed omega of the right variable pitch propeller 3RSo as to eliminate the rolling angular speed error eP and realize the stability enhancement and control of the rolling angular speed.
By varying the speed omega of the left variable-pitch propeller 2LAnd the rotation speed omega of the right variable pitch propeller 3RIn the process, the thrust of the left variable pitch propeller 2 and the thrust of the right variable pitch propeller 3 are differentiated, and unnecessary yaw moment N is generatedΩ(ii) a To overcome NΩThe influence of (3) needs to cooperate with synchronous deflection of the tail rudder to realize stability augmentation and control of the yaw angular speed.
The yaw rate augmentation and control is used for maintaining a desired yaw rate, and comprises the following specific steps:
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 (3)
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; then, the yaw rate controller 72 generates a yaw rate stability augmentation instruction uared according to the yaw rate error eRR：
Wherein,is to control the proportionality coefficientR is a yaw rate detected by the yaw rate gyro 7;
in order to further enhance the control effect of the roll angular speed and the yaw angular speed, a coupling control part is introduced; the coupling control section includes yaw-roll coupling control and roll-yaw coupling control, wherein: the yaw-roll coupling control enhances the control effect on the roll angular speed through yaw control; the roll-yaw coupling enhances the control effect on the yaw angular speed through roll control;
the roll-yaw coupling control method specifically comprises the following steps:
the roll-yaw coupling controller 81 is connected with the yaw rate commander 71, and calculates to obtain a roll coupling command uLat according to a yaw rate command uR generated by the yaw rate commander 71RTo assist in roll control;
optionally, the roll coupling instruction uLatRAdopting a proportion calculation mode:
wherein,the roll-yaw coupling proportionality coefficient is used for realizing yaw control based on roll control;
the roll instruction uLat is increased from the roll stability instruction uLatPAnd roll coupling command uLatRSynthesizing to obtain; wherein, the rolling stability-increasing instruction uLatPThe device is used for generating rolling torque to eliminate rolling angular speed error eP and realize rolling angular speed stability enhancement and control; rolling coupling instruction uLatRThe roll torque control device is used for generating auxiliary roll torque so as to enhance the control effect of the roll angular speed; and the roll command uLat is sent to the left variable pitch propeller 2, the right variable pitch propeller 3, the left driving mechanism 21 and the right driving mechanism 31, so that roll stability augmentation and control are realized:
obtaining a propeller pitch increment control command u delta theta as lambda according to the rolling command uLat1ula and a rotational speed increment command u Δ Ω ═ λΩuLat; further obtaining a pitch increment control command u delta theta of the left variable pitch propeller 2LU Δ θ and pitch increment control command u Δ θ of right variable pitch propeller 3R-u Δ θ, wherein u Δ θLAnd u Δ θREqual in size and opposite in direction; the rotation speed increment command u Delta omega of the left driving mechanism 21 is obtained at the same timeLU Δ Ω and u Δ ΩR-u Δ Ω, wherein u Δ ΩLAnd u Δ ΩREqual in size and opposite in direction; the calculation formula is as follows:
wherein, thetaL0And thetaR0The original pitches of the left variable pitch propeller 2 and the right variable pitch propeller 3 are respectively; Δ represents an increment; u Δ θLAnd u Δ θRThe control commands are differential pitch increment control commands with the same amplitude and opposite signs; u thetaLAnd u θRIs a synthesized pitch instruction and is respectively sent to the left variable pitch propeller 2 and the right variable pitch propeller 3; left and right variable pitch propellers 2, 3 according to u θLAnd u θRTo a corresponding pitch angle thetaLAnd thetaR；
Wherein omegaL0And ΩR0The original rotating speeds of the left variable pitch propeller 2 and the right variable pitch propeller 3 are respectively; u Δ ΩLAnd u Δ ΩRThe control commands are differential rotating speed increment control commands with the same amplitude and opposite signs; u omegaLAnd u ΩRIs a synthesized rotation speed control command and is sent to the propulsionLeft and right drive mechanisms 21, 31 of the section; the left driving mechanism 21 and the right driving mechanism 31 are respectively based on u delta thetaLAnd u Δ θRThe left variable pitch propeller 2 and the right variable pitch propeller 3 are driven to reach corresponding rotating speed omegaLAnd ΩR；
Wherein,andthe control efficiency factors, lambda, for the pitch increment control command u delta theta and the rotational speed increment control command u delta omega, respectivelyθOr λΩRepresenting that the pitch increment control or the rotating speed increment control is completely effective for 1 and representing that the pitch increment control or the rotating speed increment control is completely ineffective for 0; changing lambdaθAnd λΩDifferent control modes can be generated;
alternatively, λθ＝1,λΩThe pitch differential stability augmentation mode is completely adopted corresponding to 0, and the propeller pitch differential stability augmentation method has the advantages of fast operation response and small working pressure of a propeller driving mechanism; the disadvantage is that the control gain is smaller than the rotation speed differential;
alternatively, λθ＝0,λΩ1 corresponds to a stability increasing mode which completely adopts the rotation speed differential motion, and has the advantages that the control gain is larger than the rotation speed differential motion; the disadvantages are slow operation response and large working pressure of the propeller driving mechanism;
preferably, λθ＝1,λΩ1 corresponds to a stability augmentation mode simultaneously adopting a pitch differential mode and a rotating speed differential mode, the pitch differential mode is used as a quick response control mode, and the rotating speed differential mode is used as an enhancement supplement control mode, so that the control gain is large; the response speed is high; by limiting the response speed of the rotational speed differential, the operating pressure on the propeller drive mechanism can be reduced.
Preferably, λθ＝fθ(t),λΩ＝fΩ(t) is adjusted in real time according to the operating stateThe time-varying parameters can further enhance the mixed control effect of the differential pitch and the differential rotation speed, and reduce the working pressure of the propeller driving mechanism.
Since the propeller torque τ is proportional to the pitch angle θ, and is proportional to the square of the rotational speed Ω2In proportion, when the pitch differential or the rotational speed differential occurs in the left variable pitch propeller 2 and the right variable pitch propeller 3, the rolling torque L is generated in the hullθAnd LΩThe formula for small perturbations, ignoring higher order terms, is:
wherein, IxxIs the rolling moment of inertia, L, of the unmanned ship 1PIs a roll stability-increasing control torque, LRIs the roll-coupled control torque and,
τLand τRThe reaction torques, κ, of the left and right variable-pitch propellers 2, 3, respectivelyτIs the reaction torque coefficient; by varying the pitch angle theta of the left-hand pitch propeller 2LAnd a rotational speed ΩLAnd the pitch angle theta of the right variable pitch propeller 3RAnd a rotational speed ΩRCan adjust the rolling moment L of the boat bodyPAnd the corresponding roll angular speed P, thereby realizing the stability augmentation and control of the roll angular speed P of the hull; at the same time, the above-mentioned manoeuvre may assist in generating a favourable yaw coupling moment NPAssisting the unmanned ship 1 to realize stability augmentation and control of yaw angular speed;
the yaw-roll coupling control method specifically comprises the following steps:
the yaw-roll coupling controller 82 is connected with the roll angular velocity commander 61, and calculates a yaw coupling command uRud according to a roll angular velocity command uP generated by the roll angular velocity commander 61P(ii) a Yaw commanduRud is controlled by yaw to instruct uRudRCoupled with yaw instruction uRudPSynthesizing to obtain;
optionally, yaw coupling instruction uRudPAdopting a proportion calculation mode:
wherein,is a yaw-roll coupling proportionality coefficient for implementing roll control based on yaw manipulation; on yaw control instruction uRudRAnd yaw coupling instruction uRudPSynthesizing to obtain a yaw instruction uRud; wherein, the yaw control instruction is uRudRThe yaw moment is generated to eliminate the yaw angular speed error eP and realize the stability augmentation and control of the yaw angular speed; yaw coupling instruction uRudPThe device is used for generating auxiliary yaw moment to enhance the control effect of yaw angular speed; the yaw instruction uRud is sent to the left steering engine 41 and the right steering engine 51 to realize yaw stability augmentation and control, and the specific steps are as follows:
the same control surface control instruction u delta can be obtainedLAnd u δR。
Wherein, IzzIs the yaw moment of inertia, N, of the unmanned vehicle 1RIs a yaw stability-increasing control moment, NPIs the yaw coupling control moment of force,
ζ is the rudder efficiency coefficient of the tail rudder, ηLAnd ηRInitial yaw moments of the left rudder 4 and the right rudder 5, respectively; Δ represents an increment;
under the condition of differential pitch and differential rotation speed of the left variable pitch propeller 2 and the right variable pitch propeller 3, thrust difference and yaw coupling moment N are generatedPTo enhance the control effect on the yaw rate of the unmanned vehicle 1:
NP＝TLs1-TRs2(11)
wherein, TLAnd TRThrust of the left variable pitch propeller 2 and the variable pitch propeller, s, respectively1And s2The moment arms of the left variable pitch propeller 2 and the variable pitch propeller are respectively;
yaw rate controller 72 will u δLAnd u δRA left steering engine 41 and a right steering engine 51 which are sent to a tail steering part; at u δLAnd u δRUnder the action of the steering wheel, the left rudder 4 and the right rudder 5 deflect synchronously to generate a yawing moment NRAnd the corresponding yaw rate R, the stability enhancement and the control of the yaw rate are realized;
the rolling coupling torque L is generated during the synchronous deflection of the left rudder 4 and the right rudder 5RThe method is used for assisting the unmanned ship 1 to realize roll angular speed control so as to enhance the roll angular speed control effect on the unmanned ship 1:
LR＝(FL+FR)h (12)
wherein, FLAnd FRThe hydrodynamic force borne by the left rudder 4 and the right rudder 5 is respectively, and h is the moment arm of the left rudder 4 and the right rudder 5;
therefore, the roll-course stability augmentation and control of the unmanned ship can be realized through the coordination control of the double variable pitch propellers and the double control planes: the pitch angle and the rotating speed of the left variable pitch propeller 2 and the right variable pitch propeller 3 are controlled, so that the stability of and the control over the roll angular speed are realized; the yaw angle speed stability enhancement and control are realized by controlling the yaw angles of the left rudder 4 and the right rudder 5; meanwhile, the coupled yawing moment generated by the differential pitch and the differential rotation speed of the left variable pitch propeller 2 and the right variable pitch propeller 3 is utilized, so that the control effect of the yawing angular speed is enhanced; the coupled roll torque generated by the left rudder 4 and the right rudder 5 enhances the roll angular speed control effect.
In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (1)
1. A roll-course coordination stability augmentation control system for an unmanned ship is characterized in that: comprises a propelling part, a propelling control part, a rolling stabilizing part, a tail rudder part, a yawing stabilizing part and a coupling control part, wherein,
propulsion portion includes left variable pitch propeller (2), left actuating mechanism (21), right variable pitch propeller (3) and right actuating mechanism (31) to there are:
the left driving mechanism (21) drives the left variable pitch propeller (2), the right driving mechanism (31) drives the right variable pitch propeller (3), the left variable pitch propeller (2) and the right variable pitch propeller (3) have opposite rotating directions, and when thrust is generated, rolling torque is generated through differential pitch and differential rotating speed;
the roll stability augmentation 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 yaw stabilizing section 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 sequentially connected to the tail rudder part, and a yaw rate gyro (7) is connected to the yaw rate controller (72);
the coupling control part comprises a roll-yaw coupling controller (81) and a yaw-roll coupling controller (82), wherein the roll-yaw coupling controller (81) is connected with the roll angular speed commander (61) and the yaw angular speed controller (72) and is used for generating the coupling control of the roll to the yaw; a yaw-roll coupling controller (82) is coupled to the yaw rate commander (71) and the roll rate controller (62) for generating a coupled control of yaw versus roll.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109669469A (en) * | 2018-12-05 | 2019-04-23 | 山东智翼航空科技有限公司 | Unmanned ship rolling-course coordination stability augmentation control system and method |
| CN111026144A (en) * | 2019-12-23 | 2020-04-17 | 哈尔滨工程大学 | Air cushion landing boat control method based on stability augmentation controller |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109669469A (en) * | 2018-12-05 | 2019-04-23 | 山东智翼航空科技有限公司 | Unmanned ship rolling-course coordination stability augmentation control system and method |
| CN109669469B (en) * | 2018-12-05 | 2024-04-05 | 山东智翼航空科技有限公司 | Unmanned ship roll-course coordination stability augmentation control system and method |
| CN111026144A (en) * | 2019-12-23 | 2020-04-17 | 哈尔滨工程大学 | Air cushion landing boat control method based on stability augmentation controller |
| CN111026144B (en) * | 2019-12-23 | 2022-04-05 | 哈尔滨工程大学 | Air cushion landing boat control method based on stability augmentation controller |
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