Improved model-free adaptive course control algorithm based on input-output data fusion for naval vessel

A model-free self-adaptive, data fusion technology, applied in two-dimensional position/channel control, non-electric variable control, control/regulation system, etc. The effect of robustness

Inactive Publication Date: 2019-01-22
HARBIN ENG UNIV
View PDF11 Cites 8 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] To sum up, none of the above MFAC algorithms is suitable for ship heading control, because the ship heading system does not meet the requirements of the MFAC algorithm for the

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Improved model-free adaptive course control algorithm based on input-output data fusion for naval vessel
  • Improved model-free adaptive course control algorithm based on input-output data fusion for naval vessel
  • Improved model-free adaptive course control algorithm based on input-output data fusion for naval vessel

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0019] The present invention will be further described below in conjunction with the drawings.

[0020] The invention discloses an improved model-free adaptive heading control algorithm for ship input and output data fusion. The ship heading control system does not meet the "quasi-linear" assumptions of the model free adaptive control (MFAC) algorithm, resulting in that the MFAC algorithm is not suitable for ship heading control. The input and output of the ship controlled system of the present invention Data fusion improved model-free adaptive heading control algorithm solves the above problems and expands the scope of application of MFAC theory. The main steps:

[0021] (1) Regarding the rudder angle as a part of the system output, the original system output y(k) is the heading angle ψ, redefined as y(k)=f(δ,ψ), the present invention takes the form of linear superposition as For example, define the system output y(k) as k 1 ×δ+ψ. Where δ is the rudder angle of the ship, k 1 Th...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention belongs to the field of naval vessel motion control, and specifically relates to an improved model-free adaptive course control algorithm based on input-output data fusion for a naval vessel. The control algorithm comprises the following steps: expressing the output form of an original course system as y(k)=f(delta, psi), and outputting y(k) as k<1>xdelta+psi by a system, wherein delta is a rudder angle, and k<1> is a gain coefficient being relevant to the kinetic characteristics of a naval vessel system; and subtracting actual output y(k) from the expected output y<*>(k)(kxdelta<*>+psi<*>) of a course system to obtain an error e(k), considering that the actual course convergence of the naval vessel reaches a desired course and jumping out of the cycle when |e(k)| is less than an expected constant e0, otherwise solving the expected input u(k) of the course system by using e(k) as the input of the model-free adaptive controller. The improved model-free adaptive course control algorithm based on input-output data fusion for the naval vessel can be applied to the course control of the naval vessel.

Description

technical field [0001] The invention belongs to the field of ship motion control, in particular to an improved model-free self-adaptive course control algorithm for ship input and output data fusion. Background technique [0002] The course control of the ship is very important to the ship system. Only when the course stability of the ship is guaranteed can the desired track be effectively tracked. At present, in practical engineering applications, the course control of ships basically adopts PID control algorithm and conventional control algorithm based on "model-oriented" design strategy development. The PID controller is a data-driven control algorithm based on offline data. However, when the ship is operating in the ocean environment, it is easily affected by model perturbation and ocean environment interference, which makes it difficult for the PID controller to maintain a consistent control effect. Only by adjusting the parameters can the system maintain good control ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 姜权权廖煜雷李晔苗玉刚李资科姜文成昌盛庄佳园王博武皓微
Owner HARBIN ENG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap