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Unmanned surface vehicle anti-surge control device and method based on support vector regression

A technology of support vector regression and control method, applied in the field of unmanned boat anti-surge control device based on support vector regression machine

Active Publication Date: 2014-09-17
精海智能装备有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to provide a kind of unmanned boat anti-surge control device and method based on support vector regression machine for the strong interference existing in the complex ocean environment of the surface unmanned boat and the robustness requirements of the control system, so as to Solve the stability motion control of the surface unmanned vehicle in the environment of strong sea surge interference

Method used

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  • Unmanned surface vehicle anti-surge control device and method based on support vector regression
  • Unmanned surface vehicle anti-surge control device and method based on support vector regression
  • Unmanned surface vehicle anti-surge control device and method based on support vector regression

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Embodiment 1

[0042] like figure 1 As shown in the figure, the anti-surge control device for unmanned boat based on support vector regression machine, the control cabin of the surface unmanned boat 1 is equipped with an embedded computer 2, an omnidirectional wireless device 3 and a GPS4 host, a GPS4 receiving antenna and a wireless device 5 The omnidirectional antenna is installed on the top of the surface unmanned boat 1; the compass 5 is installed at the center of gravity of the surface unmanned boat 1; the embedded computer 2 is connected with the GPS4, the compass 5, and the omnidirectional wireless device 3. The human-boat anti-surge control algorithm is stored in the embedded computer 2 . According to the latitude and longitude coordinate values ​​obtained by GPS4, the X-band radar monitors the surge information in the surrounding sea area, and transmits it to the embedded computer 2 through the omnidirectional wireless device 3. The anti-surge control algorithm of the unmanned boat...

Embodiment 2

[0044] see figure 2 , image 3 As shown in the figure, the anti-surge control method of the unmanned boat based on the support vector regression machine is carried out by the above-mentioned device, and the specific implementation steps are as follows:

[0045] 1) Initialize the surface unmanned boat 1, complete the initialization of the position, attitude and onboard equipment of the surface unmanned boat 1, and set the initial track after the system starts normally;

[0046] 2) Start the surface unmanned boat 1, and the embedded computer 2 sends an initial control command to the surface unmanned boat 1 according to the initially set track control;

[0047] 3) When the omnidirectional wireless device 3 receives the latitude and longitude coordinates of the surface unmanned boat 1 obtained by the GPS 4, and the X-band maritime radar on the base station or the mother ship monitors the surge information in the surrounding sea area, and the surface unmanned boat obtained by the...

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Abstract

The invention discloses an unmanned surface vehicle anti-surge control device and method based on support vector regression. The device mainly comprises an unmanned surface vehicle, an embedded computer, omni-directional wireless equipment, a GPS and a compass. The wireless equipment and a GPS body are mounted in an unmanned surface vehicle control cabinet, and an antenna is mounted on the top of a vehicle body. The compass is mounted at the position of the center of gravity of the vehicle body. The embedded computer is connected with the GPS, the compass and the wireless equipment, and a control algorithm is stored in the embedded computer. In the implementation process, the surge information of related sea areas, which is monitored by X-band radar, is received through the wireless equipment, the position and gesture information of the unmanned surface vehicle is acquired in real time by the compass, surges and the position and gesture information are resolved by an anti-surge control algorithm based on the support vector regression, and a control instruction is output; the unmanned surface vehicle carries out the control instruction, and surge disturbance prevention movement control over the unmanned surface vehicle is achieved. The unmanned surface vehicle anti-surge control device and method based on support vector regression can be effectively adaptive to outside disturbance.

Description

technical field [0001] The invention relates to the field of motion control of surface unmanned boats and anti-sea surge interference, in particular to an unmanned boat anti-surge control device and method based on a support vector regression machine. Background technique [0002] Surface UAV is an unmanned intelligent platform that needs to complete various complex tasks autonomously in complex environments, which requires it to have precise maneuvering and adaptive capabilities. Surface UAV is a typical underactuated nonholonomic system, which has the characteristics of model uncertainty, nonlinearity and time-varying, and is disturbed by complex marine environment. Because the surface UAV moves in a complex marine environment and the hydrodynamic parameters are complex, it is difficult for a single mathematical model to fully realize the heading control problem of the UAV, especially in the presence of external disturbances such as surges. Therefore, it has become a rese...

Claims

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Application Information

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IPC IPC(8): G05D1/08G05B19/042G06F19/00
Inventor 彭艳崔建祥瞿栋罗均华凌云
Owner 精海智能装备有限公司
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