Unmanned boat rotational speed differential anti-rolling stability augmentation system and method

Abstract

The invention provides an unmanned boat rotational speed differential anti-rolling stability augmentation system and method. The unmanned boat rotational speed differential anti-rolling stability augmentation system comprises a propulsion part, a propulsion control part, a sternpost rudder part and a sternpost rudder control part. The propulsion part comprises a left propeller, a left driving mechanism, a right propeller and a right driving mechanism, the left propeller and the right propeller rotate in the opposite directions, and rolling moment is generated by rotational speed differential while generating thrust. The propulsion control part includes a rolling angular velocity gyroscope, a rolling angle velocity commander and a rolling angular velocity controller, and is used for rollingstability augmentation and control. The sternpost rudder part includes a left rudder, a left steering engine, a right rudder and a right steering engine, and the left rudder and the right rudder aresimultaneously deflected to produce yawing moment. The sternpost rudder control part includes a yawing angular velocity gyroscope, a yawing angular velocity commander and a yawing angular velocity controller, and is used for yawing stability augmentation and control. The unmanned boat rotational speed differential anti-rolling stability augmentation system and method adopt the double-propeller rotational speed differential and the double-rudder-surface synchronous deflection as the anti-rolling stability augmentation mode of an unmanned boat, and the rolling-yawing control quality can be improved.

Description

technical field [0001] The invention relates to a system and method for anti-rolling and stabilizing an unmanned boat, which is mainly applied in the technical field of unmanned boat control, and can improve the control quality of the unmanned boat. Background technique [0002] As an unmanned marine carrier platform, high-speed unmanned boats can undertake high-speed, long-duration, low-cost, large-scale, maintenance-free scientific investigations and military tasks in the ocean. Therefore, high-speed unmanned boats have extremely wide application prospects in military and civilian fields, such as biological research, hydrological observation, chart drawing, environmental monitoring, communication relay, resource exploration, territorial water patrol, smuggling and anti-drug, submarine tracking, intelligence gathering and Ship attack and other missions. [0003] In order to reduce the resistance of high-speed unmanned boats, their hulls are usually slender. Therefore, the...

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is: In order to overcome the disadvantages of small moment of inertia, poor lateral stability and easy rollover in the prior art of unmanned boats, the present invention provides a system and method for anti-rolling and stabilizing by differential rotation speed of unmanned boats , improving the handling quality of the UAV

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