基于改进广义逆法的无人艇推力分配方法研究

李太宇, 邵成, 孙创

doi:10.16411/j.cnki.issn1006-7736.2024.01.005

大连海事大学学报 >

2024 , Vol. 50 >Issue 1: 39 - 45

DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2024.01.005

基于改进广义逆法的无人艇推力分配方法研究

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（中国舰船研究院宜昌测试技术研究所，湖北宜昌 443000）

李太宇（1997— ），男，硕士生，研究方向：船舶运动控制及推力分配。邵成*（1980— ），男，博士，研究员，研究方向：水面无人系统，E-mail: yaoyaochi@163.com。孙创（1992— ），男，博士，工程师，研究方向：非线性控制系统，船舶运动控制、协同控制等。

收稿日期: 2023-07-27

修回日期: 2023-09-06

录用日期: 2023-09-06

网络出版日期: 2023-09-06

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Research on unmanned boat thrust allocation method based on improved generalised inverse method

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(Yichang Institute of Testing Technology, China Ship Research Institute, Yichang 443000, China)

Received date: 2023-07-27

Revised date: 2023-09-06

Accepted date: 2023-09-06

Online published: 2023-09-06

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摘要

推进器的推力分配方法对于无人艇的自主靠泊及低速机动等控制场景至关重要。目前针对推力分配算法的研究多以分配方法本身的研究验证为主，对于推进器推力变化、角度变化所需时间等影响实际响应速度的因素缺乏考虑。本文以广义逆方法为基础，以双喷水推进无人艇为目标平台研究其推力分配问题，并针对以往方法研究中较少涉及推进器执行时间的状况改进广义逆方法，增加额外的重分配环节来提高推进器的响应速度。仿真结果表明该方法在理论上达到了预期效果。

关键词： 推力分配; 广义逆算法; 重分配; 执行时间

本文引用格式

李太宇, 邵成, 孙创 . 基于改进广义逆法的无人艇推力分配方法研究[J]. 大连海事大学学报, 2024 , 50(1) : 39 -45 . DOI: 10.16411/j.cnki.issn1006-7736.2024.01.005

Abstract

The thrust distribution method of the thruster is crucial for control scenarios such as autonomous berthing and low-speed maneuvering of unmanned vehicles. At present, the domestic research on thrust allocation algorithm is mainly based on the research and verification of the distribution method itself, and there is a lack of consideration for factors affecting the actual response speed, such as thrust change and angle change. Based on the generalized inverse method, this paper studies the thrust distribution problem of double-jet waterjet unmanned vehicles, and improves the generalized inverse method for the situation that the thruster execution time is rarely involved in previous method studies, and adds additional redistribution links to improve the response speed of the thruster. The simulation results show that the proposed method achieves the expected effect in theory.

Key words： thrust distribution; generalized inverse algorithm; redistribution; execution time

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