An event-triggered state observer structure and design method for unmanned ships

Abstract

The invention discloses an event-triggered state observer structure of an unmanned ship and a design method thereof. The observer structure includes an event trigger module, a position observation module, a disturbance observation module and a speed observation module. The number of sensors required by the invention is small, and the speed information of the unmanned ship and the aggregate disturbance information of the unmanned ship in the marine environment can be observed only through the position status information output by the unmanned ship positioning system, without relying on sensors With the accurate unmanned ship model, it is easy to realize the engineering in the marine environment. The invention can avoid high-frequency oscillations that may be caused by a high-gain state observer, has few adjustment parameters, and has low calculation load, which is beneficial to the real-time calculation of the actual microprocessor, thereby improving the overall performance of the unmanned ship. The present invention designs a reasonable trigger mechanism under corresponding circumstances, reduces some unnecessary update calculation time points, thereby reduces system loss and calculation load, and saves limited processor resources of the unmanned ship.

Description

technical field [0001] The invention relates to the technical field of autonomous control of unmanned ships, in particular to a structure of an event-triggered state observer of an unmanned ship and a design method thereof. Background technique [0002] The understanding, development and protection of marine resources are of great significance to human survival and sustainable development. Unmanned ships are of great significance to the understanding, development and protection of the ocean, and have a wide range of applications in the military and civilian fields, such as marine environmental monitoring, pollution tracking, marine resource development, and surface search and rescue. However, in the key technical field of unmanned ships, the motion control technology of unmanned ships is the basis for realizing its engineering applications. In the actual unmanned ship motion control, the acquisition of the position and velocity information of the unmanned ship is the premis...

AI Technical Summary

Problems solved by technology

The existing problems are as follows: the use of speed sensors increases the production and maintenance costs of unmanned ships; the acquisition of speed depends too much on the reliability of the sensors. boat stability

[0007] Second, in order to accurately estimate the speed information of the unmanned ship, some existing observer design methods need to rely on the precise model of the unmanned ship, and the anti-interference ability is weak

The fixed periodic update calculation method of the observer is relatively simple, but in many cases, some useless update calculation processes will be repeated, and the high update calculation frequency increases the calculation burden and loss of the system

For the resource-constrained embedded system of unmanned ships, the existing observation method of fixed periodic update calculation occupies too much limited hardware and software resources of unmanned ships, thus affecting the overall performance of unmanned ships

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