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...

AI Technical Summary

Problems solved by technology

[0004] The CFDL_MFAC controller belongs to the incremental control structure, and the output of the controller at the next moment is accumulated on the basis of the output of the controller at the previous moment. As a result, when the actual speed of the ocean vehicle tends to the desired speed, the desired input of the speed system cannot decrease rapidly to avoid overshooting; at the same time, the speed system of the ocean vehicle has a large time-delay characteristic. Under the action of the expected input, the actual output of the speed system has a serious lag in time, which causes the actual input of the speed system to continuously deviate from Expected input, further exacerbating overshoot and oscillation

Therefore, when the CFDL_MFAC algorithm is directly used for the speed control of the ocean vehicle, it will inevitably lead to serious overshoot and oscillation in the speed system of the ocean vehicle, and the convergence speed of the speed system will slow down.

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