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A high-performance navigation feed-forward control system and control method for unmanned boats

A technology of feedforward control and feedforward controller, which is applied in general control system, control/adjustment system, two-dimensional position/channel control, etc. Track and course deviation from the expected setting, etc., to improve accuracy and control efficiency, ensure high-precision navigation, and maintain a stable track

Active Publication Date: 2020-11-13
SHANGHAI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Severe swaying motions will not only affect the normal operation of shipboard detection equipment and reduce equipment efficiency, but may also cause track and course deviation from the expected setting
At present, anti-disturbance control mostly suppresses disturbance by estimating disturbance information and performing real-time compensation, but unmanned boats have a serious time lag, and it often takes tens of seconds to take effect after adding control, so compensation has always been for past disturbances. inhibition

Method used

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  • A high-performance navigation feed-forward control system and control method for unmanned boats

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Embodiment 1

[0029] A high-performance navigation feed-forward control system for unmanned boats, see figure 1 , including a feedforward controller, a guidance system, a model identification system, a short-term forecast system for wind, wave and current, and an unmanned vehicle sensing system; The power unit of the manned boat is connected, the sensing system of the unmanned boat is respectively connected with the short-term forecast system of wind, wave and current, and the model identification system, and the short-term forecast system of wind, wave and current is connected with the model identification system. The unmanned vehicle sensing system is used to obtain the current wind, wave and current state data and the current moment unmanned vehicle position and attitude data at sea, and transmit the current moment wind, wave and current state data to the wind, wave and current short-term forecasting system and model identification system. The position and attitude data of the human boat...

Embodiment 2

[0037] The control method of the high-performance navigation feedforward control system of the unmanned boat described in embodiment 1 comprises the following steps:

[0038] (1) During the voyage of the unmanned boat, the current wind, wave, and current state data and the current moment of the unmanned boat's position and attitude data are obtained through the unmanned boat's sensing system, and the current wind, wave, and current state data are transmitted to the short-term wind, wave, and current forecasting system and model identification system, which transmits the position and attitude data of the unmanned vehicle at the current moment to the feedforward controller and model identification system;

[0039] (2) The short-term wind, wave and current forecast system uses the current wind, wave and current state data received to predict the future sea wind, wave and current state, obtains the future time wind, wave and current state data, and transmits the future time wind, w...

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Abstract

The invention belongs to the technical field of unmanned ships, and particularly discloses an unmanned ship high-performance navigation feed-forward control system which comprises a feed-forward controller, a guidance system, a model identification system, a wind wave flow short-term forecasting system and an unmanned ship sensing system, wherein the feed-forward controller is respectively connected with the guidance system, the model identification system and the unmanned ship sensing system, the unmanned ship sensing system is respectively connected with the wind wave flow short-term forecasting system and the model identification system, and the wind wave flow short-term forecasting system is connected with the model identification system. According to the unmanned ship high-performancenavigation feed-forward control system, the navigation accuracy and the control efficiency of the unmanned ship are greatly improved, the heading and the track of the unmanned ship are kept stable under the action of external interference information, and high-precision navigation of the unmanned ship is guaranteed; and the problem that the yawing of the unmanned ship is too large under complex sea conditions is solved.

Description

technical field [0001] The invention belongs to the technical field of unmanned boats, and in particular relates to a high-performance navigation feedforward control system and a control method for unmanned boats. Background technique [0002] Unmanned boats sailing in the ocean, due to the interference of external environments such as wind, waves and currents, will produce sway, surge and yaw, which will have a great negative impact on the high-performance navigation of surface unmanned boats. Severe swaying motions will not only affect the normal work of the ship-borne detection equipment and reduce the efficiency of the equipment, but may also cause the track and course to deviate from the expected setting. At present, anti-disturbance control mostly suppresses disturbance by estimating disturbance information and performing real-time compensation, but unmanned boats have a serious time lag, and it often takes tens of seconds to take effect after adding control, so compen...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G05D1/00G05B11/42G05B13/04
CPCG05B11/42G05B13/042G05B13/048G05D1/0088G05D1/0206
Inventor 王曰英陈汇资张丹彭艳罗均蒲华燕谢少荣
Owner SHANGHAI UNIV