Experimental Validation of GPS-Based Control of an Unmanned Wing-Sailed Catamaran
نویسنده
چکیده
Precision guidance and control of an autonomous, wingsailed catamaran has been demonstrated by Harbor Wing Technologies’ X-1. Based closely on the Atlantis project, the X-1 is larger, more capable version. The platform is a modified Stiletto, a 9.1 m (30 ft) catamaran, experimentally capable of navigating along straight line segments between GPS waypoints and achieving line tracking with average errors/standard deviations of 1.6 m/1.4 m error in protected water and 3.3 m/1.8 m error in open water, respectively. The X-1 uses a novel hybrid propulsion system consisting of electric motors, powered from an on-board battery bank, and the wing-sail. If the minimum speed required for the current line segment is not achieved under wind power, the electric motors provide the remaining thrust. Power consumed under electric motor power can be in excess of 7 kW (10 HP) for 3 m/s (6 knots) of boat speed. Under hybrid propulsion, power has been shown to be 240 W for similar speeds. X-1’s control system configures the wing for maximum performance based on the estimated polar angle, the angle between the true wind and the vessel’s heading. Currently, travel upwind with a polar angle less than 30◦ is performed solely under electric motor. Using the line tracking capabilities of the platform, a new test pattern has been developed to derive performance data for the vehicle. Preliminary boat polar data shows X-1 capable of achieving 50% of true wind speed for 10◦ of tail angle and no flap deflection.
منابع مشابه
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