Wave-glider multi-body-heading-fused model-free adaptive course control method

A model-free self-adaptive and heading control technology, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as inability to maintain synchronization, inconsistent movement of wave glider, and inability to directly apply wave glider heading control, etc. problem, to achieve a strong adaptive effect

Inactive Publication Date: 2018-10-30
HARBIN ENG UNIV
View PDF3 Cites 8 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method can be used to control the heading / direction of the floating body (or submerged body) of the wave glider alone, but the wave glider is a double-body structure with flexible connections, and the respective motions of the floating body and the submerged body cannot be kept in sync. The motion of the wave glider is also inconsistent, so this method cannot be directly applied to the heading control of the wave glider

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Wave-glider multi-body-heading-fused model-free adaptive course control method
  • Wave-glider multi-body-heading-fused model-free adaptive course control method
  • Wave-glider multi-body-heading-fused model-free adaptive course control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0019] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

[0020] Combine figure 1 Describe the structure of the wave glider heading control system. Known wave glider expected course ψ * , According to the principle of the present invention, select the desired angular velocity of the floating body Desired submerged body turning angle speed Expected float heading And expected heading According to the above values, calculate the expected heading fusion control system output y * (k). At the same time, the sensors carried by the wave glider measure in real time, which are the heading angular velocity r of the floating body. F , The turning angular velocity of the submerged body r G , The heading angle of the floating body ψ F And submerged body heading angle ψ G , Calculate the actual heading fusion control system output y(k). MFAC controller according to the expected output y(k) and actual output y at each ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides a wave-glider multi-body-heading-fused model-free adaptive course control method. Output of a wave-glider course control system is defined as a function of the floating-body course angular speed, the submerged-body rotating bow angular speed, the floating-body course angle and the submerged-body heading angle, the wave-glider course control capacity is improved through multi-body yawing motion information fusion, and meanwhile the requirement of the model-free adaptive control theory for the controlled system 'quasi-linear' assumed condition is met; an error between desired output and actual output of the wave-glider course control system is calculated, and serves as input of an MFAC controller, and desired input of the control system is resolved; a desired input order is issued to a control mechanism, and thus the system course of a wave glider is controlled. According to the wave-glider multi-body-heading-fused model-free adaptive course control method, throughthe advantages of the unique adaptivity and online data driving of the MFAC theory, by fusing yawing motion information of a floating body and a submerged body, the course of the wave glider can be effectively controlled, and the high adaptivity is achieved.

Description

Technical field [0001] The invention relates to a model-free adaptive heading control method for wave glider multi-body heading fusion, and belongs to the field of wave glider motion control. Background technique [0002] The wave glider is a new type of unmanned ocean exploration platform. It uses the rigid-flexible hybrid multi-body structure of "floating body-umbilical cord-submerged body" to directly convert ocean wave energy into its own forward power. At the same time, it relies on solar panels on the upper deck. Powering various electrical loads, enabling long-term autonomous navigation on the vast ocean, and also acting as a communication relay to exchange commands and data with other types of detection platforms, providing new ideas for ocean observation technology and having a very broad development prospect. However, the motion control of the wave glider is a difficult point. [0003] The wave glider has unique structure, complex dynamic characteristics, and extremely ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05B13/04
Inventor 廖煜雷王磊峰潘恺文张蔚欣李晔杜廷朋姜文贾琪
Owner HARBIN ENG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap