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High anti-interference adaptive path following method and system

A self-adaptive, path technology, applied in the control/regulation system, vehicle position/route/height control, non-electric variable control and other directions, can solve the problem of water flow interference, etc., to eliminate water flow interference, resist water flow interference, reduce The effect of tracking error

Active Publication Date: 2018-08-17
HARBIN ENG UNIV
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Problems solved by technology

However, the above method does not solve the problem of water flow interference

Method used

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  • High anti-interference adaptive path following method and system
  • High anti-interference adaptive path following method and system
  • High anti-interference adaptive path following method and system

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Embodiment Construction

[0035] Ships in the present invention refer to various underwater navigation equipment in a broad sense, such as underwater robots, underwater submarines, unmanned surface ships, surface ships, etc. The above-mentioned various underwater navigation equipment are all within the scope of application of the present invention. The present invention will be described in more detail below with reference to the accompanying drawings.

[0036]The invention is mainly aimed at the tracking of the straight line path of the ship under the influence of the uncertain current. The main steps include: (1) Input the desired path command, the desired path consists of N desired path points, and the desired path point P=(P 1 ,P 2 ,P 3 …P n )N≥2, where P n =(x n ,y n ), represents the coordinates of the nth desired path point, 1≤nn =(x n ,y n ) and P n+1 =(x n+1 ,y n+1 ) to obtain a straight line path connecting two points, and obtain the direction angle of the straight line path ψ pn ...

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Abstract

The invention relates to a high anti-interference adaptive path following method and system. A desired path point is given, the desired path point and the real-time position information of underwaternavigation equipment are inputted into a guidance module, and a desired heading state Psid is calculated through the high anti-interference adaptive path following method. A difference between the desired heading state Psid and actual heading state information Psi of the underwater navigation equipment obtained by a heading sensor module and filtered by a filter module is calculated to obtain a heading state deviation absolute value e(k), the heading state deviation absolute value e(k) is inputted into a CFDL_MFAC controller module, and a desired command u(k) is outputted to an operating mechanism module. The operating mechanism module receives and performs a desired command u(k) (such as a desired rudder angle) such that the underwater navigation equipment constantly approaches the desired heading Psid. According to the method and the system, water flow interference can be effectively resisted without a system model, the system and the method are insensitive to uncertain effects suchas model perturbation and noise and have good robustness and adaptability, and an unmanned aircraft can be quickly driven to track a desired path.

Description

technical field [0001] The present invention relates to a path following method and system, in particular to a high disturbance immunity adaptive path following method and system. Background technique [0002] Path following means that the ship sails according to a desired path. In the engineering application of ships, many practical engineering problems can be abstracted as path following problems. For example: ships entering and leaving ports and waterways, submarine pipeline laying, nautical charting, marine hydrology measurement, biochemical pollutant monitoring, etc. Therefore, studying the path following problem of UAV has important theoretical and engineering value. However, ships are vulnerable to the uncertain influence of the external environment and the interference of water currents in the marine environment, which will reduce the accuracy of the ship's tracking of the desired path, and even lead to mission failure. [0003] At present, for the ship path follow...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 姜权权李晔廖煜雷苗玉刚潘恺文张伟范佳佳
Owner HARBIN ENG UNIV
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