Adaptive robust servo-actuated control method of ship exhaust gas monitoring laser radar
An adaptive and robust laser radar technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of difficult automatic positioning of observation targets, small detection area, long measurement optical distance, etc.
Inactive Publication Date: 2019-04-16
安徽优思天成智能科技有限公司
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However, this monitoring and analysis method has a long measurement optical distance and a small detection area, so it is very difficult to automatically locate the observation target, and in the follow-up process of the observation system, small vibrations will bring great detection errors
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[0058] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0059] The present invention provides an adaptive robust follow-up control method of ship exhaust gas monitoring laser radar, such as image 3 As shown, the ship exhaust gas monitoring lidar includes base B 0 , azimuth rotation part B 1 and pitch rotation component B 2 , the base B 0 , azimuth rotation part B 1 and roll rotation component B ...
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The invention provides an adaptive robust servo-actuated control method of a ship exhaust gas monitoring laser radar. The method comprises the steps that a D-H coordinate system is established for theship exhaust gas monitoring laser radar; kinetic analysis is carried out on the ship exhaust gas monitoring laser radar, and a positive kinetic equation is established; a dynamic model of the ship exhaust gas monitoring laser radar is established according to a kinetic analysis result and the positive kinetic equation; period external disturbance in the dynamic model is decomposed into a modelingpart and an un-modeling part; an adaptive control algorithm is designed for the modeling part; a robust H<infinite> control algorithm is designed for the un-modeling part; and an adaptive robust servo-actuated tracking control law is calculated. Fourier series expansion is used, the period external disturbance is decomposed into the modeling part and the un-modeling part, and the adaptive controlalgorithm and robust control algorithm are designed to inhibit tracking errors caused by external disturbance of the two parts, and the control efficiency is improved.
Description
technical field [0001] The invention relates to the technical field of air pollution discharge monitoring, in particular to an adaptive robust follow-up control method of a ship exhaust gas monitoring laser radar. Background technique [0002] At present, the situation of my country's atmospheric environment is severe, the total amount of pollutant discharge is large, and the regional atmospheric environmental problems characterized by fine particulate matter are becoming more and more prominent. Frequent regional air pollution problems such as smog are closely related to substandard exhaust emissions from urban mobile pollution sources such as motor vehicles, engineering vehicles, and ships. Mobile source pollution has become one of the most prominent and urgent problems in China's air pollution problems. Combining various detection technologies, comprehensive monitoring of urban mobile pollution source emissions is a direct and effective means of controlling mobile source...
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IPC IPC(8): G01S7/481G05B13/04
CPCG01S7/4817G05B13/027G05B13/042
Inventor 杨钰潇陈才杜晓冬李泽瑞吕文君
Owner 安徽优思天成智能科技有限公司