Vector control system and method for ship based on water-jet propellers

Abstract

The invention discloses a vector control system and method for a ship based on water-jet propellers. The vector control system comprises dual power propulsion integrated units and a vector control unit, wherein the dual power propulsion integrated units are used for performing servo control on dual water-jet propellers and realizing control for a steering gear position and a forward / backward gearposition of the ship body, the dual power propulsion integrated units are further used for controlling throttle on-off of dual diesel engines and realizing control for the on-off and sailing speed ofthe ship body; and the vector control unit comprises combined inertial navigation equipment and a vector controller, the combined inertial navigation equipment is used for collecting and monitoring the attitude and position of the ship body in real time, and the vector controller is used for estimating initial power configuration parameters according to a load distribution condition of the ship body and a propulsion characteristic curve and performing closed-loop automatic adjustment on the attitude and position of the ship body in real time according to the combined inertial data so as to realize flexible actions including specified-direction translation, in-situ rotation and fixed-point stabilization of the ship body.

Description

technical field [0001] The invention relates to the technical field of unmanned boats, and more specifically, to a waterjet-based boat vector control system and method. Background technique [0002] At present, various and flexible motion modes of boats are realized, including integrated power solutions using 360-degree pods or side thrusters, but the cost of hardware requirements is relatively high. Water jet propulsion has been widely used on high-speed boats due to its high propulsion efficiency. Compared with propulsion equipment using propellers, water jet propulsion is less noisy and applicable to shallower water surfaces. With the characteristic of vector control, the development of high-performance control software is used to realize the various and flexible motion modes of the boat, which is more attractive. [0003] In the prior art, the patent with the application number CN201510096066 provides a solution to repeatedly adjust the power variable of water spray thr...

AI Technical Summary

Problems solved by technology

[0003] In the prior art, the patent with the application number CN201510096066 provides a solution to repeatedly adjust the power variable of water spray through two handles. In this solution, the handle terminal is used for crew operation, which can realize the movement of the boat following the joystick The direction and range of motion are controlled by the vector of the corresponding movement. The operator repeatedly corrects the current attitude and position by observing the attitude of the hull and using the handle. However, this method cannot achieve better attitude and speed control, especially when there is wind and wave interference. high

Images