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Inner and outer ring PID path tracking control method of wave glider

A technology of path tracking and control methods, which is applied to controllers with specific characteristics, electric controllers, etc., and can solve problems such as difficulty in path tracking control

Pending Publication Date: 2021-11-09
青岛海舟科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The uncertainty and nonlinearity of the wave glider model and the complex and changeable ocean environment make path tracking control extremely difficult

Method used

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  • Inner and outer ring PID path tracking control method of wave glider
  • Inner and outer ring PID path tracking control method of wave glider
  • Inner and outer ring PID path tracking control method of wave glider

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Embodiment Construction

[0013] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0014] like figure 1 As shown, the wave glider starts the inner and outer ring PID path tracking control method, and the current position (x, y) of the wave glider is given by GPS real-time positioning, and the system calculates the side distance h between the current position (x, y) and the expected trajectory. The inner loop control is to input the current side distance h to the PID heading controller, and output the rudder angle δ 1 , making the wave glider vertically towards the desired path P 1 P 2 move. The outer loop control is: set the target point (x k+1 ,y k+1 ) into the control system of the wave glider to obtain the desired heading ψ e , and then read the current heading ψ through the compass c (that is, the inner loop controls the output rudder angle), and the deviation ψ between the current heading and the expected headin...

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Abstract

The invention discloses a path tracking control method of a wave glider, two tail vane angles are putted through two PID control of an inner ring and an outer ring to finish path tracking control of the wave glider. The inner ring PID control comprises the steps that the side edge distance between the current position of the wave glider and the expected track serves as deviation to be inputted into a PID course controller, and a tail vane angle is outputted. According to outer ring PID control, the deviation between the current course returned by the compass and the expected course is inputted into a PID course controller, meanwhile, inner ring control output (a rudder angle) serves as outer ring control input, and a tail rudder angle is outputted. The angles of the two tail vanes jointly act on the wave glider, and tracking of the current path by the wave glider is completed. The path tracking control method of the wave glider has the advantages of being convenient to control and simple in process, and the wave glider can accurately complete path tracking by reasonably adjusting PID parameters.

Description

technical field [0001] The invention relates to a path tracking control method of the inner and outer ring PID of a wave glider, in particular to the field of motion control applied to the wave glider. Background technique [0002] The wave glider is a new type of marine mobile observation platform, which is mainly composed of three parts: a floating body ship, an umbilical cable and a tractor. Using the multi-rigid body structure composed of the above three parts to convert wave energy into forward power, using solar panels to provide energy supply for wave glider navigation, communication and motion control, etc., the wave glider can achieve long-term and large-scale maritime autonomy sailing. [0003] The uncertainty and nonlinearity of the wave glider model and the complex and changeable ocean environment make path tracking control extremely difficult. In order to simplify the navigation control process of the wave glider and reduce the operating power consumption of t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 孙秀军桑宏强周莹于佩元王震张胜钵
Owner 青岛海舟科技有限公司
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