双喷水推进无人艇矢量运动与自主靠离泊控制方法  

Vector Motion and Autonomous Berthing and Unberthing Control Methods for Dual Water-Jet Propelled USVs

作　　者：孔杰杰 楼建坤 闫昭琨 KONG Jiejie;LOU Jiankun;YAN Zhaokun(Ship Development and Design Center,Wuhan 430064,China;School of Ocean and Civil Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]中国舰船研究设计中心,武汉430064 [2]上海交通大学船舶海洋与建筑工程学院,上海200240

出　　处：《船舶工程》2025年第2期I0018-I0031,共14页Ship Engineering

摘　　要：[目的]为了研究低速复杂港口环境下的双喷水推进无人艇自主靠离泊控制方法,实现无人艇自主低速精确靠离泊操作,[方法]基于无人艇的推力分配特性,进行无人艇横向平移运动控制参数分析,并在此基础上通过推力分配计算和控制参数解耦,实现无人艇矢量运动控制器与阶段式悬停控制方法设计;针对无人艇典型靠离泊场景进行分析,完成自主靠离泊任务阶段划分与控制方法设计。[结果]结果表明,在实艇实水域条件下,基于该控制方法可实现无人艇全向矢量运动控制,并在此基础上进一步实现了无人艇在矩形泊位和长堤型泊位的自主靠泊与离泊。[结论]研究成果可为双喷水推进无人艇自主靠离泊控制提供一定参考。[Purpose]In order to study the autonomous berthing and unberthing control method for dual water-jet propelled unmanned surface vehicles(USVs)in low-speed,complex port environments,and achieve autonomous and precise low-speed berthing and unberthing operations for USVs,[Method]based on the thrust distribution characteristics of the USVs,a parameter analysis for the lateral translation motion control of the USVs is conducted.Building on this,thrust distribution calculation and decoupling of control parameters are achieved,leading to the design of the USVs vector motion controller and staged hovering control method.A scenario analysis for typical berthing and unberthing situations is performed,completing the task phase division and control method design for autonomous berthing and unberthing operations.[Result]The results show that,under real vessel and water conditions,the control method enable omnidirectional vector motion control of the USVs.Furthermore,based on this,the USVs successfully achieved autonomous berthing and unberthing at both rectangular and long pier-type berths.[Conclusion]The research findings can provide valuable reference for the autonomous berthing and unberthing control of dual water-jet propelled USVs.

关 键 词：无人艇 喷水推进 矢量运动控制 自主靠离泊控制 

分 类 号：U664.82[交通运输工程—船舶及航道工程] U675.92[交通运输工程—船舶与海洋工程]