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Heading control method of adaptive floating body for wave glider

A control method and glider technology, applied in attitude control, control/adjustment system, non-electric variable control, etc., can solve problems such as instability of the control system, achieve clear physical meaning, easy to implement, and eliminate steady-state errors

Active Publication Date: 2021-04-20
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a wave glider adaptive floating body heading control method that overcomes the problem of control system instability caused by the lagging response of the floating body heading and can eliminate the steady-state error caused by environmental disturbances

Method used

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  • Heading control method of adaptive floating body for wave glider
  • Heading control method of adaptive floating body for wave glider
  • Heading control method of adaptive floating body for wave glider

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0042]A wave glider adaptive floating body heading control method comprises the following steps:

[0043] (1) Set the length of the sliding time window;

[0044] (2) The dynamic data storage queue is set, the size of its storage space corresponds to the set sliding time window size, the data structure adopts the queue form, and the elements therein are initialized to 0;

[0045] (3) Judging that the current control system is in the rapid adjustment stage or the steady state adjustment stage, if it is the rapid adjustment stage, then enter step (4); if it is the steady state adjustment stage, then enter step (5);

[0046] (4) Insert a "0" element at the back end of the dynamic data storage queue, and delete an element at the front end of the dynamic data storage queue, and enter step (6);

[0047] (5) Insert the heading difference of the floating body and the submerged body at the back end of the dynamic data storage queue at the current moment, and delete an element at the fr...

Embodiment 2

[0056] combine figure 1 Explain the wave glider and its hardware structure. The wave glider is composed of a floating body 1, a submersible body 2 and an umbilical cord 3, and the floating body 1 and the submersible body 2 are connected through the umbilical cord 3. The steering gear 4 of the wave glider is installed on the submerged body 2. Through the rudder force of the rudder plate 5, the steering of the submerged body 2 can be directly controlled. The turning moment of the floating body 1 comes from the tension of the umbilical cord 3. The floating body 1 and the submerged body 2 are respectively A heading sensor is installed, and the heading sensor 6 installed on the floating body and the heading sensor 7 installed on the submerged body respectively measure the heading ψ of the floating body F and the submerged heading ψ G .

[0057] combine figure 2 Describe the establishment of the coordinate system. Only considering the motion of the wave glider on the horizonta...

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Abstract

The invention discloses a method for controlling the heading of an adaptive floating body of a wave glider, and belongs to the technical field of marine vehicle motion control. The present invention utilizes the actual navigation data of the wave glider to plan the desired heading of the submersible in real time, indirectly realizes the heading control of the floating body of the wave glider through the heading control of the submersible, and overcomes the instability of the control system caused by the lagging response of the floating body heading problems, and can eliminate the steady-state error caused by environmental disturbances, effectively improving the ability of the wave glider to control the heading of the floating body. The invention has a simple structure, is easy to implement, does not depend on an accurate mathematical model, and has strong self-adaptability under the interference of uncertain external environments.

Description

technical field [0001] The invention belongs to the technical field of marine aircraft motion control, and in particular relates to a method for controlling the heading of an adaptive floating body of a wave glider. 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. [0003] The steering system of the wave glider, that is, the steering gear and the rudder plate, are installed on the subm...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08
CPCG05D1/0875
Inventor 王磊峰李晔廖煜雷潘恺文张蔚欣李一鸣卢倪斌武皓微
Owner HARBIN ENG UNIV
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