Wave glider yawing information self-adaptive filter method

Abstract

The invention relates to a wave glider yawing information self-adaptive filter method, and relates to the motion control field of the wave glider, and specifically relates to a wave glider yawing information self-adaptive filter method. The wave glider yawing information self-adaptive filter method comprises a floating body yawing response self-adaptive filter method and a submerged body yawing response self-adaptive filter method which are operated in parallel; the wave glider yawing information self-adaptive filter method provided by the invention comprises the following steps: correcting adata model according to dynamic data of actual sailing of the wave glider to realize self-adaptive filter, wherein the heading angle and a bow-turning angular speed of the floating body and the submerged body of the wave glider can be estimated at the same time, and the good filter effect still can be achieved under the influence of the uncertainty environment interference and the model parameterperturbation. The self-adaptive filter method disclosed by the invention is simple in structure, easy to realize, good in self-adaptivity, and can be applied to a wave glider motion control system toeffectively improve a control effect.

Description

technical field [0001] The invention relates to the field of motion control of a wave glider, in particular to an adaptive filtering method for yaw information of the 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] However, when the wave glider moves in the ocean environment, the yaw motion of the floating body and the submerged body is oscillated, and due to the...

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Problems solved by technology

[0003] However, when the wave glider moves in the ocean environment, the yaw motion of the floating body and the submerged body is oscillated, and due to the influence of sensor noise, the yaw motion information has a large oscillation, which brings great difficulties to dynamic analysis and controller design. to adversely affect

In addition, the dynamics of the wave glider is very difficult, and there are uncertain environmental disturbances and model perturbations in the actual navigation process, making the model-based filtering method difficult to apply in practice

[0004] The invention "Multi-loop Model-Free Adaptive Heading Control Method for Ships" proposed by Wang Leifeng et al., application number: 201810602151.2, contains the idea of ​​using dynamic linearization model for filtering. However, this method can only be applied to single navigation In this method, the rudder angle must be used as the system input, while the wave glider is a multi-system connection structure, both the floating body and the submerged body have yaw motion, and the yaw motion of the floating body Moment is derived from umbilical tension rather than rudder force, so this method cannot be applied to wave gliders

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