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Global consistent asymptotic type path tracking guiding control method

A technology of guided control and path tracking, applied in adaptive control, general control system, control/regulation system, etc.

Active Publication Date: 2015-09-30
GUANGDONG UNIV OF TECH
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Problems solved by technology

[0004] At present, there have been many researches and applications on ship path tracking at home and abroad. The results of this kind of research are mainly the local progressive control algorithm and the traditional LOS method or integral LOS method (ILOS for short) in the guidance system. A globally asymptotically stable cascaded system is obtained by combining the bootstrap algorithm with adaptive regulation and the globally asymptotically stable controller algorithm

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  • Global consistent asymptotic type path tracking guiding control method
  • Global consistent asymptotic type path tracking guiding control method
  • Global consistent asymptotic type path tracking guiding control method

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Embodiment Construction

[0055] The following will be combined with picture The technical solutions of the present invention will be described in detail with specific embodiments, so as to understand the essence of the present invention more clearly and intuitively.

[0056] refer to picture 1 to picture 8, the embodiment of the present invention provides a Globally Consistent Asymptotic Path-Following Guidance Control Method , including the following steps:

[0057] Step 1: Read in the current ship attitude, current waypoint and next waypoint;

[0058] Step 2: judging whether the next waypoint is reached;

[0059] Step 3: If yes, call the guidance system module algorithm, update the waypoint coordinates and target path, and calculate the real-time expected heading angle;

[0060] If not, call the guidance system module algorithm, keep the current target path, and calculate the real-time desired heading angle;

[0061] Step 4: Call the algorithm of the control system module to calculate the ...

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Abstract

Disclosed in the invention is a global consistent asymptotic type path tracking guiding control method. The method is characterized in that the method comprises: a current ship attitude, a current way point, and a next way point are read; whether a ship arrives at the next way point is determined; if so, a guiding system module algorithm is invoked, a way point coordinate and a target path are updated, and a real-time expected course angle is calculated; if not, a guiding system module algorithm is invoked, a current target path is maintained, and a real-time expected course angle is calculated; and a control system module algorithm is invoked and a corresponding course change moment and longitudinal force of the ship are calculated. According to the invention, the method has the following beneficial effects: on the basis of combination of a controller method and a guiding system method, gradual expected course tracking by the ship and external disturbance estimation can be carried out based on series connection combination; and high-precision positioning of the target route kept by the ship can be realized.

Description

technical field [0001] The invention belongs to the field of dynamic positioning control of marine engineering surface ships and warships, and in particular relates to a globally consistent progressive path tracking guidance control algorithm based on an adaptive variable integral gain line of sight (ILOS) method. Background technique [0002] With the continuous exploration of marine resources, human activities in the ocean are becoming more and more active. At present, my country's policies also strongly support the development of marine transportation. Under these backgrounds, the accuracy and performance requirements of ship control modules are getting higher and higher. In marine engineering, the ship dynamic positioning system is one of the important support systems for ships operating in the ocean and maritime transportation. The dynamic positioning system includes control systems, guidance systems, navigation systems and measurement systems. With the wide application...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05B13/04G06F19/00
Inventor 王钦若王浩铎
Owner GUANGDONG UNIV OF TECH
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