Differential automatic steering control system and method for unmanned ship

Abstract

The invention provides a differential automatic steering control system for an unmanned ship. The differential automatic steering control system comprises a navigation system, display equipment and anautomatic steering controller; the navigation system is used for acquiring position, heading and speed information of the unmanned ship; the display equipment is used for storing expected linear trajectory parameters of the unmanned ship and displaying state information of the unmanned ship; the automatic steering controller is used for calculating a control amount and outputting the control amount to an electronic speed governor, and the electronic speed governor is used for controlling the rotational speed of a propeller motor. According to the automatic steering system, steering gears at both sides are canceled, and propellers are fixed to a hull around a rotating shaft; through a designed control algorithm, the rotational speed difference between the left and right propellers is automatically adjusted, and the steering control over the unmanned ship is achieved.

Description

technical field [0001] The invention relates to the field of data processing, in particular to an unmanned ship differential automatic steering control system and control method. Background technique [0002] With the popularization of GNSS high-precision satellite navigation technology, marine surveying and mapping has become an important direction of satellite navigation applications, and unmanned ships, as the carrier platform of marine surveying and mapping equipment such as depth sounders, have played an important role in surveying and mapping operations. Such as figure 1 As shown, the traditional unmanned ship power system consists of two left and right propulsion propellers and two left and right steering steering gears. The forward power is provided by the propellers, and the left and right propellers are driven to rotate around the rotation axis through the steering gears, thereby changing the propulsion direction of the propellers. Generate steering torque to achi...

AI Technical Summary

Problems solved by technology

The steering gear used in many small and medium-sized unmanned ships is often a plastic part. Due to gear wear during the steering process, it is very easy to cause damage to the steering gear, which greatly affects the reliability of the unmanned ship system.

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