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An Approximate Dynamic Programming Optimization Control Method for Attitude Adjustment of Underwater Thermal Glider

A technology of dynamic programming and optimal control, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve problems such as optimal control of attitude adjustment of underwater thermal glider, etc.

Active Publication Date: 2021-03-26
SHANGHAI MARITIME UNIVERSITY
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  • Description
  • Claims
  • Application Information

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Problems solved by technology

None of them can solve the optimal control problem of underwater thermal glider attitude adjustment.

Method used

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  • An Approximate Dynamic Programming Optimization Control Method for Attitude Adjustment of Underwater Thermal Glider
  • An Approximate Dynamic Programming Optimization Control Method for Attitude Adjustment of Underwater Thermal Glider
  • An Approximate Dynamic Programming Optimization Control Method for Attitude Adjustment of Underwater Thermal Glider

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Embodiment Construction

[0047] The present invention will be further elaborated below by describing a preferred specific embodiment in detail in conjunction with the accompanying drawings.

[0048] Such as figure 1 As shown, an approximate dynamic programming optimization control method for underwater thermal glider attitude adjustment, including the following steps:

[0049] S1, designing the cost function of the approximate dynamic programming controller, the output end of the approximate dynamic programming controller is connected to the controlled object of the underwater thermal glider;

[0050] S2, designing the value function of the approximate dynamic programming controller;

[0051] S3, calculating the optimal execution output equation of the approximate dynamic programming controller;

[0052] S4, connecting two single-input single-output active disturbance rejection controllers in parallel before the approximate dynamic programming controller, and controlling and outputting two control sig...

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Abstract

The invention discloses an approximate dynamic programming optimization control method for underwater thermal glider attitude adjustment, comprising: S1, designing a cost function for an approximate dynamic programming controller, wherein the output end of the approximate dynamic programming controller is connected with an underwater thermal glider controlled object; S2, designing a value functionof the approximate dynamic programming controller; S3, calculating an optimal execution output equation of the approximate dynamic programming controller; S4, connecting two single-input single-output auto disturbance rejection controllers in parallel in front of the approximate dynamic programming controller, and respectively controlling the two single-input single-output auto disturbance rejection controllers to output two control signals; and S5, inversely transforming the control signals obtained in step S4 to solve an original control input signal, and then obtaining an optimal executionoutput. The method can obtain the nonlinear optimal approximate dynamic programming control law of the underwater thermal glider attitude adjustment by only real-time state feedback.

Description

technical field [0001] The invention relates to the technical fields of optimization control and ship and ocean engineering, in particular to an approximate dynamic programming optimization control method for attitude adjustment of an underwater thermal glider. Background technique [0002] The reason why the underwater thermal glider operates at such a high rate is that it performs a stable zigzag gliding motion in the vertical plane for most of its operating time. Under this premise, by adjusting the displacement of the mass block at the longitudinal position inside the underwater thermal glider, the pitch angle of its upward or downward dive is changed, thereby determining the size and speed of its net buoyancy change. Therefore, the key to the control of the underwater thermal glider is to ensure that its pitch angle and net buoyancy are maintained or changed according to the expected target value through the control input of the displacement of the mass block in the lon...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 黄志坚郑欢张成王升堂陈文涛张琴
Owner SHANGHAI MARITIME UNIVERSITY
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