PD-type compact-format model-free adaptive navigational speed control method for ocean vehicle

Abstract

The present invention provides a PD-type compact-format model-free adaptive navigational speed control method for an ocean vehicle. The method comprises the steps of: issuing an expected navigationalspeed instruction to an ocean vehicle, namely y*(k); employing a compass to measure a current actual navigational speed of a ship, and calculating a navigational speed error absolute value as input ofa PD-type CFDL_MFAC controller; solving the expected instruction by the controller, receiving and executing the expected instruction by an ocean vehicle feed mechanism to change the navigational speed of the ocean vehicle; and measuring the navigational speed of the ocean vehicle at the next moment through the compass carried on the ocean vehicle, performing difference of the navigational speed and an expected navigational speed, obtaining an absolute value, and taking the absolute value as input of the CFDL_MFAC controller at the next moment. The PD-type compact-format model-free adaptive navigational speed control method for the ocean vehicle considers the influence of environmental disturbance on the navigational speed of the ocean vehicle, and repeatedly performs the process mentionedabove until the actual navigational speed of the ocean vehicle is subjected to stable convergence to the expected navigational speed. The PD-type compact-format model-free adaptive navigational speedcontrol method for the ocean vehicle have a prediction effect on dynamic evolution of the navigational speed of the ocean vehicle so as to reduce the overshoot of the navigational speed control system and perform steady-state regulation of time consuming.

Description

technical field

[0001] The invention relates to a motion control method of an ocean carrier, in particular to a PD-type compact format model-free adaptive speed control method. Background technique

[0002] Only by accurately controlling the speed of the ocean carrier and ensuring the stability of the speed of the ocean carrier can the ocean carrier perform various tasks safely and effectively, such as charting, hydrographic survey, etc. At present, in engineering applications, the speed control of marine vehicles basically adopts PID control algorithms and conventional control algorithms developed based on "model-oriented" design strategies. PID is a data-driven control algorithm based on offline data, but unmanned boats are susceptible to model perturbation, environmental disturbances, etc., making it difficult for the PID controller to maintain a consistent control effect, and the parameters need to be readjusted to stabilize the system. However, the controller developed...

Examples

Embodiment Construction

[0020] The following examples describe the present invention in more detail.

[0021] combine figure 1 , the marine vehicle speed system model of the present invention mainly includes: issuing the desired speed command to the marine vehicle, i.e. y*(k), measuring the current actual speed y(k) of the ship by using the compass, and calculating the absolute value of the speed error e(k ), as the input of the PD-type CFDL_MFAC controller, and the controller solves the expected command u(k) (expected voltage or expected rotational speed or expected thrust). The present invention takes the expected voltage as an example. Voltage command, so as to change the speed of the ocean carrier, measure the speed of the ocean carrier at the next moment through the magnetic compass carried on the ocean carrier, and make a difference with the expected speed and take the absolute value, and use it as the next moment of the PD type CFDL_MFAC controller input of. At the same time, considering the...

technical field

[0001] The invention relates to a motion control method of an ocean carrier, in particular to a PD-type compact format model-free adaptive speed control method. Background technique

[0002] Only by accurately controlling the speed of the ocean carrier and ensuring the stability of the speed of the ocean carrier can the ocean carrier perform various tasks safely and effectively, such as charting, hydrographic survey, etc. At present, in engineering applications, the speed control of marine vehicles basically adopts PID control algorithms and conventional control algorithms developed based on "model-oriented" design strategies. PID is a data-driven control algorithm based on offline data, but unmanned boats are susceptible to model perturbation, environmental disturbances, etc., making it difficult for the PID controller to maintain a consistent control effect, and the parameters need to be readjusted to stabilize the system. However, the controller developed...

Examples

Embodiment Construction

[0020] The following examples describe the present invention in more detail.

[0021] combine figure 1 , the marine vehicle speed system model of the present invention mainly includes: issuing the desired speed command to the marine vehicle, i.e. y*(k), measuring the current actual speed y(k) of the ship by using the compass, and calculating the absolute value of the speed error e(k ), as the input of the PD-type CFDL_MFAC controller, and the controller solves the expected command u(k) (expected voltage or expected rotational speed or expected thrust). The present invention takes the expected voltage as an example. Voltage command, so as to change the speed of the ocean carrier, measure the speed of the ocean carrier at the next moment through the magnetic compass carried on the ocean carrier, and make a difference with the expected speed and take the absolute value, and use it as the next moment of the PD type CFDL_MFAC controller input of. At the same time, considering the...

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