基于分层优化的双喷水推进器无人艇推力分配方法

doi:10.16183/j.cnki.jsjtu.2024.250

上海交通大学学报 ›› 2026, Vol. 60 ›› Issue (3): 427-439.doi: 10.16183/j.cnki.jsjtu.2024.250

基于分层优化的双喷水推进器无人艇推力分配方法

陆展¹^,², 王健¹^,²(), 马庆严³, 徐昌健³, 梁晓锋¹^,²

¹ 上海交通大学海洋智能装备与系统教育部重点实验室, 上海 200240
² 上海交通大学船舶海洋与建筑工程学院, 上海 200240
³ 中国船舶集团有限公司第七〇八研究所, 上海 200011

收稿日期:2024-06-28 修回日期:2024-10-11 接受日期:2024-11-25 出版日期:2026-03-28 发布日期:2026-03-30
通讯作者: 王健,副研究员,电话(Tel.):021-34207165;E-mail:nsms_sjtu@sjtu.edu.cn.
作者简介:陆展(2000—),硕士生,从事喷水推进无人艇矢量操纵研究.
基金资助:
上海交通大学深蓝计划基金(SL2022MS003)

Thrust Allocation Method for Dual Waterjet Propelled Unmanned Surface Vehicles Based on Hierarchical Optimization

LU Zhan¹^,², WANG Jian¹^,²(), MA Qingyan³, XU Changjian³, LIANG Xiaofeng¹^,²

¹ Key Laboratory of Marine Intelligent Equipment and System of the Ministry of Education, Shanghai Jiao Tong University, Shanghai 200240, China
² School of Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
³ Marine Design and Research Institute of China, Shanghai 200011, China

Received:2024-06-28 Revised:2024-10-11 Accepted:2024-11-25 Online:2026-03-28 Published:2026-03-30

摘要/Abstract

摘要：

推力分配是实现双喷水推进器无人艇矢量推进的重要手段,然而由于喷水推进器存在推力角度限制、倒斗负向力等特性,现应用于全回转推进器船舶上的推力分配方法无法解决双喷水推进器矢量力求解问题.为实现双喷水推进器无人艇的矢量运动控制,提出了一种基于分层优化的推力分配算法.第1层,使用基于改进角度约束的向量合成法,获得满足推进器旋转范围和喷口角度调整速率特性约束的顶层矢量推力;第2层,以顶层矢量推力值作为输入,考虑推进器功率大小与功率变化频率约束,提出了一种基于寻求最小距离的优化方法,实现喷水推进器倒斗角度与喷口流速的分配,并解决了双喷水推进器推力分配存在的奇异问题.仿真试验与半物理仿真试验验证了基于分层优化的双喷水推进器推力分配算法的有效性,该方法可实现双喷水推进器推力精确分配,并且在预期推力变化过程中限制推进器功率的变化频率与幅度,在获得目标矢量推力的同时降低了推进器轴系损耗.

关键词: 无人艇, 双喷水推进, 分层优化, 推力分配

Abstract:

Thrust allocation serves as a critical means for achieving vector propulsion in unmanned surface vessels (USV) equipped with dual waterjet thrusters. However, existing thrust allocation methods employed in vessels featuring azimuth thrusters fail to address the resolution of vector forces for dual waterjet propulsion, due to characteristics such as thrust angle limitations and reverse thrust. To achieve vector motion control of a dual waterjet propelled USV, a hierarchical optimization-based thrust allocation algorithm is proposed. In the first tier, a vector synthesis approach incorporating enhanced angle constraints is utilized to acquire top-tier vector thrust satisfying constraints on the rotating range and rate characteristics of the thrusters. In the second tier, leveraging the top-tier vector thrust values as inputs and considering constraints on thruster power and power change frequency, an optimization method based on seeking minimal distance is proposed. This method facilitates the allocation of reverse thrust angles and nozzle flow velocities for waterjet thrusters, thereby resolving singular issues in dual waterjet thrust allocation. Simulation experiments and the semi-physical simulation experiments validate the effectiveness of the hierarchical optimization-based thrust allocation algorithm for dual waterjet thrusters. The results indicate that this method enables efficient thrust allocation for dual waterjet thrusters, while concurrently limiting fluctuations in thruster power frequency and amplitude during expected thrust variations, thereby reducing shafting wear while achieving target vector thrust.

Key words: unmanned surface vessels (USV), dual waterjet propulsion, hierarchical optimization, thrust allocation

中图分类号:

TP273

陆展, 王健, 马庆严, 徐昌健, 梁晓锋. 基于分层优化的双喷水推进器无人艇推力分配方法[J]. 上海交通大学学报, 2026, 60(3): 427-439.

LU Zhan, WANG Jian, MA Qingyan, XU Changjian, LIANG Xiaofeng. Thrust Allocation Method for Dual Waterjet Propelled Unmanned Surface Vehicles Based on Hierarchical Optimization[J]. Journal of Shanghai Jiao Tong University, 2026, 60(3): 427-439.

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基于分层优化的双喷水推进器无人艇推力分配方法

Thrust Allocation Method for Dual Waterjet Propelled Unmanned Surface Vehicles Based on Hierarchical Optimization

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