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

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 ...

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

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