基于喷水推进器的单手柄操纵系统推力分配策略

目前国内基于喷水推进器的单手柄操纵系统应用较少，通过人工控制2套推进装置的6个参数来实现船体的平移运动操纵复杂、难度大，由此，对基于喷水推进器的单手柄操纵系统推力分配策略进行研究。推力分配是单手柄操纵系统的关键技术之一，其任务是将手柄输出的合力指令分配给各推进器。根据喷水推进器的特性，提出级联广义逆结合组合偏置的控制策略。该推力分配策略基于能量最优、艏向优先的方法，能自适应地调整偏置量，并兼顾喷水推进器的操纵性。仿真结果表明，该策略能适应喷水推进器优异的操纵性。

Research on Waterjet Propeller Thrust Allocation Based on Joystick Operating System

As joystick operating system is seldom used in water-jet propellers in China and it is very difficult to control ship translational motion manually according to the 6 parameters of the two propulsion units, this study investigates the thrust allocation strategies based on the joystick operating system. Thrust allocation is one of the key technologies of the joystick operating system to allocate the thrust forces on each propeller according to the total force from the joystick. Based on the characteristics of the water-jet propeller, the cascade generalized inverse method with group biasing is proposed as the control strategy. As energy priority and heading preference method are taken as the basis, the thrust allocation strategy can adaptively correct deviation and at the same time to ensure maneuverability. The simulation result shows that the strategy matches the excellent maneuverability of water-jet propellers.