Event driving based generalized predictive and self-adaptive supply ship navigation direction control method

Abstract

The invention provides an event driving based generalized predictive and self-adaptive supply ship navigation direction control method. The method comprises the following steps: first, selecting a discrete event triggering device working in a discrete state; designing a triggering detection function at a variable threshold; when the triggering time approaches, determining by the event triggering device whether the current state satisfies the triggering condition or not through triggering detection function; second, through the low-frequency motion mathematical model of the supply ship, obtaining the controlled autoregressive integrated moving average model of the rudder angle-navigation direction; taking it as a prediction model; and estimating online the parameters of the prediction model through the use of the forgetting factor recursive least squares method; and third, combining with the event-driving trigger to send the state to be controlled to the controller; using the GPC self-adaptive algorithm by the controller to calculate and output the rudder angle control increment and rudder angle control and enabling the supply ship to rapidly accomplish the approaching stage and the parallel stage as well as to maintain the navigation direction tracking in the supply stage. According to the invention, the navigation direction of the supply ship can be controlled at a low expense and the variation of parameters and the environmental impact of the supply system are more robust.

Description

technical field [0001] The invention relates to an event-driven generalized predictive self-adaptive supply ship course control method, which belongs to the technical field of maritime lateral supply. Background technique [0002] In modern warfare, more ships need to fight in the COSCO Sea. Sea supply, as an important part of naval logistics support, has received more and more attention from navies all over the world. Horizontal replenishment at sea is required to be carried out in the complex ocean environment and the interference of replenishment devices. When the supply ship sails from a long distance to the vicinity of the receiving ship, the bow movement of the supply ship is mainly considered, and the turning process of the supply ship reflects the Course tracking capability; when the supply ship and the receiving ship are performing replenishment operations, the heading of the supply ship should also be controlled to track the receiving ship. Event-driven The necess...

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Problems solved by technology

However, in the literature and patent technical requirements at home and abroad, there

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