表面桨无人艇驱动控制系统设计  

Design of Drive Control System for Surface Propeller Unmanned Boat

作　　者：戴成 朱少辉[1] 于涓汇 张勇亮 DAI Cheng;ZHU Shaohui;YU Juanhui;ZHANG Yongliang(Tianjin Institute of Navigational Instruments,Tianjin 300131)

机构地区：[1]天津航海仪器研究所,天津300131

出　　处：《舰船电子工程》2024年第7期21-24,共4页Ship Electronic Engineering

摘　　要：论文给出了表面桨(也称“半浸桨”)无人艇的底层驱动控制方案,描述驱动控制系统组成,针对表面桨无人艇在波浪中能快速起滑控制的问题,提出一种采用纵倾角度与船体姿态自适应控制的方案,提高表面桨无人艇滑行控制对海况的适应性,为解决表面桨无人艇高速滑行驱动控制提供有效解决方案。This article presents a bottom level drive control scheme for surface propeller(also known as"semi submerged pro⁃peller")unmanned boats,describes the composition of the drive control system,and proposes a scheme that adopts adaptive control of pitch angle and ship attitude to improve the adaptability of surface propeller unmanned boat sliding control to sea conditions,in response to the problem of rapid start sliding control in waves,it provides an effective solution for the high-speed sliding drive con⁃trol of surface propeller unmanned boats.

关 键 词：无人艇 驱动控制 高速滑行 自适应 

分 类 号：TM921.5[电气工程—电力电子与电力传动]