Wave glider path tracking control method

A path tracking and control method technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as uncertain control methods and complexity

Pending Publication Date: 2019-05-31
OCEAN UNIV OF CHINA +1
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Problems solved by technology

[0003] The ocean environment in which the wave glider works is complex and diverse, and the uncertainty of modeling makes its control method more complic

Method used

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  • Wave glider path tracking control method
  • Wave glider path tracking control method
  • Wave glider path tracking control method

Examples

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[0014] The present invention will be described in detail below with reference to the drawings and specific embodiments.

[0015] Such as figure 1 As shown, first give the preset target point p 1 ...p k (Ie the target path), GPS provides real-time location information p m , The tracking of the path is transformed into the tracking of the desired heading through the ILOS algorithm, and the desired heading angle χ is obtained d ; Then set the desired heading angle χ d The current heading angle ψ is used as the input of the sliding mode controller, and the output rudder angle δ of the controller directly acts on the tail rudder of the wave glider. Finally, an adaptive fuzzy Kalman filter is introduced in the feedback loop to weaken the measurement noise of the compass and GPS. External interference. Repeating the above steps in turn, the wave glider can accurately track the desired path.

[0016] Such as figure 2 As shown, the expected heading in the traditional LOS can be expressed a...

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Abstract

The invention discloses a wave glider path tracking control method. The method comprises the steps of: giving preset target points p1, ..., pk (namely target paths), providing real-time position information pm by a GPS, employing an integral line of sight (ILOS) algorithm to convert the path tracking to tracking for a desired heading to obtain a desired heading angle [chi]d; taking the desired [chi]d and a current heading angle [phi] as input of a sliding mode controller, and allowing an output rudder angle [Delta] of the controller to be directly acted at the rudder of the wave glider; and finally, introducing an adaptive fuzzy Kalman filter into a feedback loop to weaken the measurement noise and the external interference of a compass and a GPS.

Description

technical field [0001] The invention relates to a path tracking control method of a wave glider, in particular to the field of motion control of a wave glider. Background technique [0002] The wave glider is a new type of ocean mobile observation platform, which can convert wave energy into forward power, and power the electronic control system by collecting solar energy to achieve "self-sufficient" large-scale navigation. [0003] The ocean environment in which the wave glider works is complex and diverse, and the uncertainty of modeling makes its control method more complicated. It is a great challenge to ensure that the wave glider operates stably according to the preset path in the complex and changeable ocean environment. Contents of the invention [0004] The purpose of the invention is to overcome the path tracking error caused by factors such as model uncertainty and external environment interference of the wave glider, and realize precise path tracking control. ...

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Application Information

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IPC IPC(8): G05B13/02
Inventor 孙秀军桑宏强周莹李灿于佩元王雷刘芬张帅
Owner OCEAN UNIV OF CHINA
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