Posture control method for lifeboat life saving butt joint process
An attitude control and lifeboat technology, applied in attitude control and other directions, can solve the problems of insecurity, unfavorable real-time monitoring and unfavorable realization of the control process, and achieve the effect of reducing chattering.
Inactive Publication Date: 2013-09-25
HARBIN ENG UNIV
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Problems solved by technology
At present, the docking process of lifeboats is controlled as a whole for the docking process of four degrees of freedom or six degrees of freedom. The control process is not conducive to real-time monitoring. In actual operation, some unsafe factors may occur, and the control method is relatively complicated. Not conducive to the realization
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[0021] The present invention will be described in more detail below with reference to the drawings and embodiments.
[0022] Such as figure 1 As shown, the present invention relates to an attitude control system for the lifeboat docking process, including: 1—lifeboat; 2—position sensor; 3—limited time state observer; 4—linear velocity input converter; 5—limited linear velocity Time stabilization controller; 6—disturbance estimator; 7—linear velocity stabilization loop; 8—attitude control loop; 9—angular velocity finite time virtual tracking controller; 10—angular velocity input converter; 11—attitude angle virtual controller; 12 - angle sensor; 13 - sensor device.
[0023] The position sensor 2 measures and obtains the position data η of the lifeboat 1 =[x,y,z] T , the angle sensor 12 measures the attitude data of the lifeboat where x, y, z are the longitudinal, transverse and vertical position coordinates of the lifeboat respectively, are the pitch, roll and yaw angles...
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The invention provides a posture control method for a lifeboat life saving butt joint process. The posture control method for the lifeboat life saving butt joint process relates to a finite time state observer (3), a distraction estimator (6), a linear velocity stabilizing circuit (7), a posture control circuit (8) and a sensor device (13). Information of positions and information of a posture sensor are processed, linear velocity and angular velocity information of a lifeboat is fast obtained and is used by a controller, and the distraction estimator can estimate and compensate the impact of external disturbance force caused by ocean currents, umbilical cables and the like. The posture control method for the lifeboat life saving butt joint process is suitable for an all-drive lifeboat. In the but joint working process under a bad life saving environment, according to the posture control method for the lifeboat life saving butt joint process, the lifeboat can effectively resist the impact of the external disturbance force, three posture angles of the lifeboat are traced until set values are reached within limited time, and therefore life saving after the butt joint of the lifeboat and a wreck boat.
Description
technical field [0001] The invention relates to a method for attitude control in the automatic docking process of a lifeboat. Background technique [0002] The large inclination angle of the accident boat, the complex seabed topography or the large current will bring great difficulties to the lifesaving operation. For the lifeboat with a fixed docking skirt, it is inevitable to adjust its attitude so that the inclination angle of the docking skirt is consistent with that of the accident boat, so as to realize the docking lifesaving operation. Although experts at home and abroad have developed a lifeboat with a movable skirt, which can dock with an accident boat with a large inclination angle when the hull remains horizontal, when the external disturbance caused by the ocean current and the umbilical cable is large , or when the angle of inclination of the accident boat is too large, the attitude of the lifeboat still needs to be adjusted to better dock with the accident boa...
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Inventor 夏国清庞程程赵昂
Owner HARBIN ENG UNIV