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

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.

Cite this article

LI Taiyu, SHAO Cheng, SUN Chuang . Research on unmanned boat thrust allocation method based on improved generalised inverse method[J]. Journal of Dalian Maritime University, 2024 , 50(1) : 39 -45 . DOI: 10.16411/j.cnki.issn1006-7736.2024.01.005

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