基于改进广义逆法的无人艇推力分配方法

Unmanned vessel thrust allocation method based on improved generalised inverse method

采用考虑推进器执行时间的改进广义逆方法,通过增加额外的重分配环节提高推进器的响应速度,并以双喷水推进无人艇为目标平台研究其推力分配问题。仿真结果表明,该方法在理论上达到了预期效果。

By using the improved generalized inverse method to consider execution time of thruster,the response speed of the thruster was improved by increasing extra redistribution links,and taking the dual jet propulsion unmanned vessel as the target platform,the thrust distribution problem was stud⁃ied.Simulation results show that the proposed method has a⁃chieved the expected theory effect.