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Littoral spilled oil adaptive tracking and controlling method and system

A technology for self-adaptive tracking and oil spilling on the sea surface, which is applied in the directions of self-adaptive control, general control system, control/regulation system, etc. It can solve the problems of large amount of calculation and poor dynamic performance, and achieve good dynamic performance, ensure real-time performance, Guarantee the effect of controlling the progress

Inactive Publication Date: 2018-03-16
SHANDONG UNIV
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AI Technical Summary

Problems solved by technology

However, the traditional adaptive control has a large amount of computation and poor dynamic performance

Method used

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  • Littoral spilled oil adaptive tracking and controlling method and system
  • Littoral spilled oil adaptive tracking and controlling method and system
  • Littoral spilled oil adaptive tracking and controlling method and system

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Embodiment Construction

[0029] A kind of self-adaptive tracking control system and tracking control method of sea surface oil spill, such as figure 1 As shown, the method steps include:

[0030] 1) Sensors, diffusion-convection modules, state observers and motion controllers are installed on the sea surface unmanned ship, and the oil film on the sea surface is detected by the sensors to obtain the oil spill concentration data;

[0031] 2) based on the oil spill concentration data, the diffusion-convection module of the oil spill front is processed to obtain the oil spill model parameters, and the oil spill model parameters include the gradient and divergence of the oil spill concentration;

[0032] 3) Based on the oil spill model parameters, the state observer obtains the tracking data of the unmanned ship by including an adaptive parameter estimation module in conjunction with the control rate calculation module of the motion controller, and the tracking data includes motion speed and direction of...

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Abstract

The invention provides a littoral spilled oil adaptive tracking and controlling method and system, and relates to the field of control of unmanned ships. The method comprises the following steps: (1)carrying a sensor by an unmanned ship to obtain the concentration of spilled oil of oil slick; (2) calculating to obtain the model parameters of spilled oil concentration; and (3) utilizing adaptive parameter estimation of a state observer and adaptive control rate to calculate the moving speed and direction of the unmanned ship so as to drive the unmanned ship to automatically trace the forward line of oil slick. The method has a real time property, an adaptive property, and robustness, and can trace the forward line of spilled oil by using an unmanned ship without using parameters of an oilslick diffusion-convection model.

Description

technical field [0001] The invention relates to the field of unmanned ship control, in particular to an adaptive tracking control method and system for sea surface oil spills. Background technique [0002] Unmanned ship technology is a high-tech integrated with computer, cybernetics, structural science, information and sensing technology, artificial intelligence, bionics and other disciplines. At present, research on unmanned ships is very active and is being increasingly applied to a wide range of technical fields. Unmanned vessel technology has received increasing attention from both academia and industry because of its applications involving oil spill monitoring at sea. [0003] There are three existing methods for offshore oil spill monitoring: methods based on map construction, methods based on oil spill behavior and methods based on control. Traditional control-based methods are often difficult to obtain accurate model parameters, and there are model errors. Therefo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01N13/00G05B13/04G05D1/02G05D1/12
CPCG01N13/00G05B13/04G05D1/0206G05D1/12
Inventor 姜向远李帅
Owner SHANDONG UNIV
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