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Device and method for maintaining the course of unmanned boat under the action of wind and wave disturbance

A technology for course keeping and unmanned boats, applied in two-dimensional position/channel control and other directions, to achieve high practical value, save navigation time and fuel consumption

Active Publication Date: 2022-08-05
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In the prior art, there is no combined use of wind and wave detection devices, wind and wave disturbance analysis devices and equivalent rudder angle converters to detect, analyze and finally convert them into corresponding additional rudder angles devices and methods

Method used

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  • Device and method for maintaining the course of unmanned boat under the action of wind and wave disturbance
  • Device and method for maintaining the course of unmanned boat under the action of wind and wave disturbance
  • Device and method for maintaining the course of unmanned boat under the action of wind and wave disturbance

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0030] see figure 1 , an unmanned boat course maintaining device under the action of wind and wave interference, comprising a wind and wave detection device (1), a wind and wave disturbance analysis device (2), an equivalent rudder angle converter (3), a course deviation analyzer (4), a course The controller (5), the steering gear (6), the rudder (7) and the onboard compass (9) are characterized in that: the wind and wave detection device (1) is converted by the wind and wave disturbance analysis device (2) and an equivalent rudder angle The controller (3) is connected to the steering gear (6), the course deviation analyzer (4) is connected to the steering gear (6) via the heading controller (5), the steering gear (6) is connected to the rudder (7), and the rudder (7) is installed On the unmanned boat (8), a shipborne compass (9) is installed on the unmanned boat (8), and the shipborne compass (9) is electrically connected to the heading deviation analyzer (4); the shipborne c...

Embodiment 2

[0031] Embodiment 2: This embodiment is basically the same as Embodiment 1, and the special features are as follows:

[0032] a. The heading deviation analyzer (4) calculates the heading angle deviation, and the steering gear (6) according to the main rudder angle command δ t Turn the rudder (7) and control the course;

[0033] b. Calculate the heading angle deviation again, if the heading angle deviation θ e When the absolute value of is greater than m°, the steering gear (6) is based on the rudder angle command δ sum ,δ sum =δ t +δ wind +δ wave , perform the rudder (7) operation and control the heading accordingly;

[0034] c. Repeat the above two steps until the heading angle deviation θ e The absolute value of is less than or equal to m°.

Embodiment 3

[0035] Example 3: see figure 2 , The device and method for maintaining the course of the unmanned boat under the action of wind and wave interference adopts the above-mentioned device to operate, and the operation steps are as follows:

[0036] Step 1: Set the desired heading angle θ according to the mission requirements d ;

[0037] Step 2: The shipborne compass (9) provides the heading information in real time, and the heading deviation analyzer (4) calculates the desired heading angle θ d with the actual heading angle θ r deviation θ e , when the heading angle deviation θ e When the absolute value of is less than or equal to m°, go to the following step 11, otherwise, set the heading angle deviation θ e The information is sent to the heading controller (5);

[0038] Step 3: The heading controller (5) according to the heading angle deviation θ e Generate main rudder angle command δ t and transmit it to the steering gear (6);

[0039] Step 4: The steering gear (6) acc...

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Abstract

The invention discloses a device and method for maintaining the course of an unmanned boat under the action of wind and wave interference. The device includes a shipborne compass, a course deviation analyzer, a course controller, a steering gear, a rudder, a wind and wave detection device, a wind and wave disturbance analysis device and an equivalent rudder angle converter. The shipborne compass provides the heading information of the unmanned boat in real time; the heading deviation analyzer calculates the deviation between the expected heading angle and the actual heading angle and transmits it to the heading controller; the heading controller generates the main rudder angle command according to the heading angle deviation information and transmits it To the steering gear, the steering gear controls the steering and adjusts the heading accordingly. The invention can quickly and effectively reduce the negative influence of wind and wave interference on the course control process of the unmanned boat, thereby shortening the voyage, saving the voyage time and fuel consumption, and has high practical value and promotion value.

Description

technical field [0001] The invention relates to a device and method for maintaining the course of an unmanned boat under the action of wind and wave interference. The invention belongs to the technical field of automatic course control of unmanned boats. Background technique [0002] During the navigation of the unmanned boat, the influence of external interference factors such as wind, waves and currents will cause the unmanned boat to deviate from the intended course, resulting in longer sailing time and increased fuel consumption. In order to ensure the safety and economy of unmanned boats sailing at sea, it is necessary to control the course of unmanned boats more precisely. [0003] At present, the method for UAV heading control mainly uses GPS devices, navigation radar, gyrocompass and other equipment and is equipped with corresponding controllers (such as: fuzzy controller, adaptive controller, PID controller, etc.). The patent application number is 201610180161.2, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 王玉龙刘兆清戚爱春彭晨冯毅夫谢文博
Owner SHANGHAI UNIV
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