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Adaptive heading information fused course control method of wave glider

A heading control and glider technology, applied in two-dimensional position/course control, attitude control, non-electric variable control, etc., can solve the problems that the control effect is difficult to guarantee, so as to improve the performance of heading control, eliminate steady-state error, Avoid the effect of flexible chain winding

Active Publication Date: 2018-11-16
HARBIN ENG UNIV
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  • Claims
  • Application Information

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Problems solved by technology

However, the unique multi-body connection structure of the wave glider makes it difficult to guarantee the control effect by using the motion control method for the single structure.

Method used

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  • Adaptive heading information fused course control method of wave glider
  • Adaptive heading information fused course control method of wave glider
  • Adaptive heading information fused course control method of wave glider

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Embodiment Construction

[0021] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0022] combine figure 1 Illustrate the wave glider of the present invention and its hardware structure. The steering gear 1 of the wave glider is installed on the submerged body 2. The steering gear is controlled by the main computer 3, which can directly control the steering of the submersible 2. The steering of the floating body 4 is controlled by the submersible 2. The drag force provided by , the floating body and the submerged body are respectively equipped with a heading sensor, the heading sensor 5 installed on the buoyant body and the heading sensor 6 installed on the submerged body measure the heading of the floating body ψ F and the submerged heading ψ G , the wave glider is also equipped with a heading sensor to measure the overall heading ψ of the wave glider system.

[0023] combine figure 2 Describe the establishment...

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Abstract

The invention provides an adaptive heading information fused course control method of a wave glider. The method comprises that (1) a guidance module provides an expected course angle; (2) an estimatedvalue of a corrected submerged floating body relative to a proportional coefficient of the system heading angle is obtained; (3) an expected heading angle of the submerged body is calculated; (4) anabsolute value of an included angle between the expected heading and the heading of the submerged body is calculated, and limited within a preset threshold; (5) the heading of the submerged body is controlled, a host computer emits a rudder angle instruction to a steering engine, and the steering engine drives a rudder plate to rotate; and (6) an absolute value of an error of the practical courseof the wave glider relative to the expected course is calculated, if the absolute value of the error is lower than a set threshold and kept for certain time, it is considered that practical output ofthe wave glider control system is converged to expected output stably, the cycle is broken out, and otherwise, the step (2) is returned to. Thus, the heading of the submerged body is controlled to indirectly control the whole course of the wave glider, the aim of course control is achieved, and the method is higher adaptive.

Description

technical field [0001] The invention relates to a course control method for a wave glider, in particular to a course control method for a wave glider based on adaptive heading information fusion, and belongs to the field of motion control methods for marine vehicles. Background technique [0002] The wave glider is a new type of unmanned ocean exploration platform, which uses the "floating body-umbilical cord-submersible" rigid-flexible mixed multi-body structure to directly convert ocean wave energy into its own forward power, while relying on the solar panels on the upper deck It can provide power for various electrical loads, can carry out long-term autonomous navigation on the vast ocean, and can also serve as a communication relay to exchange instructions and data with other types of detection platforms, providing new ideas for ocean observation technology and has a very broad development prospect. However, the unique multi-body connection structure of the wave glider ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05D1/08
CPCG05D1/0206G05D1/0875
Inventor 李晔王磊峰廖煜雷姜言清潘恺文张蔚欣卢倪斌李岳明曹建张强
Owner HARBIN ENG UNIV
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