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An adaptive heading control method for single-jet pump-propelled unmanned surface vehicle based on fuzzy state observer
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A technology of fuzzy state and heading control, applied in two-dimensional position/course control, control/regulation system, non-electric variable control, etc., can solve the problems of practical application difficulties, without considering the working characteristics of the propulsion device, etc., and achieve the elimination of time Lag effect
Active Publication Date: 2021-06-01
上海哈船智能船舶技术有限公司
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The above heading control method is a model-oriented control method designed for unmanned gliding boats that use water jet propulsion as the propulsion method. The model-oriented control method still has the weakness of practical application difficulties on unmanned gliding boats, which are strongly nonlinear objects. and does not take into account the actual operating characteristics of the propulsion plant
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Embodiment 1
[0040] A fuzzy state observer-based method for self-adaptive heading control of a single-jet pump-propelled unmanned surface vehicle, characterized in that:
[0041] (1) Obtain the motion status information of the unmanned surface vehicle:
[0042] (1.1) Receive data information output by motion sensors such as position sensors and attitude sensors through the serial port;
[0043] (1.2) According to the communication protocol of the corresponding sensor, the received data string is verified and decoded to obtain the current position coordinates, speed, heading angle, attitude angle and other motion state information of the unmanned surface vehicle;
[0044] (1.3) Use the low-order polynomial sliding fitting method to judge the above-mentioned motion state information and eliminate the outliers; in order to avoid the outlier reverse transmission and mistakenly judge the normal value as an outlier, choose the seven-point second-order forward differential calculation formula,
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Embodiment 2
[0072] A method for self-adaptive course control of single-jet pump propelled unmanned surface craft based on fuzzy state observer proposed by the present invention, such as figure 1 As shown, the specific steps are as follows:
[0073] Step 1: Obtain the motion status information of the unmanned surface vehicle.
[0074] (1.1) Receive data information output by motion sensors such as position sensors and attitude sensors through the serial port.
[0075] (1.2) According to the communication protocol of the corresponding sensor, the received data string is verified and decoded to obtain the current position coordinates, speed, heading angle, attitude angle and other motion state information of the unmanned surface vehicle.
[0076] (1.3) Identify, eliminate and correct the outliers that may exist in the above raw data. The polynomial fitting method is used to judge the above motion state information and eliminate outliers. In order to eliminate the shortcoming of new outlie...
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Abstract
The invention discloses a single-jet pump-propelled unmanned surface boat self-adaptive course control method based on a fuzzy state observer, and belongs to the technical field of unmanned surface boat motion control; the invention includes: (1) obtaining the motion state of the unmanned surface boat (2) Obtain the heading command information of the unmanned surface vehicle; (3) adaptively track the internal and external environmental interference of the unmanned surface vehicle; (4) use the idea of residual error analysis to estimate the environmental interference; (5) eliminate the time The effect of hysteresis on the judgment of disturbance force action. The present invention improves the model-guided heading control method for the unmanned gliding boat design of the water jet propulsion mode, which is difficult in practical application and does not consider the actual working characteristics of the propulsion device, and obtains an engineering application-oriented automatic Adapt to the single-jet pump propulsion unmanned surface vehicle heading control method, and have self-adaptive characteristics to unfavorable factors such as single-jet pump mechanical installation error and environmental interference.
Description
technical field [0001] The invention relates to the technical field of motion control of unmanned surface boats, in particular to an adaptive heading control method for unmanned surface boats propelled by a single jet pump based on a fuzzy state observer. Background technique [0002] The unmanned surface vehicle propelled by a single jet pump is a surface unmanned platform that uses a single water jet propulsion device to achieve high-speed navigation. Human intervention is used to complete tasks such as marine environment detection, hydrological information collection, and marine environment monitoring. [0003] Unmanned surface vehicles generally use planing boats to achieve low resistance and high speed, while jet pumps, a water jet propulsion device, have the advantages of shallow draft, small shallow water effect, simple transmission mechanism, small attachment resistance, and good protection performance. The unmanned surface vehicle has good acceleration and braking ...
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