摘要
针对无人艇的欠驱动模型特点,建立无人艇双桨双舵系统数学模型,将舵、桨组合起来进行推力建模,以最小能耗为优化目标,对推进器系统中的舵角大小、舵角变化率和螺旋桨推力大小、推力变化率作了约束,建立非线性等式和不等式约束。采用约束条件的非线性优化命令计算方法,对无人艇系统推力分配进行仿真计算。分析结果表明,在实际无人艇航行中,该方法是可靠有效的,具有较高的实时应用能力。
Aiming at the characteristics of the underactuated model of the unmanned sur-face vessel （USV）, a mathematic model of the two pairs of propeller-rudder is established,and the rudder and the propeller are combined to carry out the thrust modeling. With the mi-nimum energy consumption as the optimization target, the rudder angle, the rudder anglechange rate, and the propeller thrust force and the thrust rate of change in the propeller sys-tem are constrained to establish the nonlinear equation and the inequality constraint. The cal-culation method of the nonlinear optimization command based on the constraint condition isused to simulate the thrust distribution of USV. The results show that the method is reliableand effective in the actual USV sailing, and is of high real-time application ability.
基金
国家自然科学基金项目资助(编号:61301279
51479158)
中央高校基本科研业务费专项资金资助(项目批准号:163102006)
关键词
无人艇
推力分配
双桨双舵推力模型
Unmanned Surface Vessel（USV）
thruster allocation
two pairs of propeller-rudder
