ADP-based underwater rocker arm system control method and system

A control method and system model technology, applied in the direction of adaptive control, comprehensive factory control, general control system, etc., can solve the problems of waste, only focus on accuracy, rough energy, etc., and achieve the effect of saving energy

Inactive Publication Date: 2022-05-17
WUXI VOCATIONAL & TECHN COLLEGE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Its shortcoming is that it only pays attention to the accuracy of the control, but does not pay attention to the energy consumption in the control process, and the rough control also causes a lot of energy waste

Method used

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  • ADP-based underwater rocker arm system control method and system
  • ADP-based underwater rocker arm system control method and system
  • ADP-based underwater rocker arm system control method and system

Examples

Experimental program
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Effect test

Embodiment 1

[0043] A control method for an underwater rocker system based on ADP, comprising: establishing an underwater rocker system model considering resistance in water; establishing an energy optimal control function of the underwater rocker system model; constructing an energy optimal control function based on The neural network model of the underwater rocker system; the neural network model of the underwater rocker system is solved based on the ADP algorithm, and the energy optimal control strategy of the underwater rocker system is obtained.

[0044] Step 1: Establish an underwater rocker system model considering the resistance in water.

[0045] Such as figure 1 For the rocker example shown, if water resistance is considered, the equation can be obtained according to the mechanism modeling:

[0046]

[0047] Among them, q is the angle of the rocker away from the horizontal position, M is the mass of the rocker arm, L is the distance from the center of gravity, J is the moment...

Embodiment 2

[0092] Based on the control method of an ADP-based underwater rocker system described in Embodiment 1, this embodiment provides a control system for an ADP-based underwater rocker system, including: a first module for establishing The underwater rocker system model of underwater resistance; the second module is used to establish the energy optimal control function of the underwater rocker system model; the third module is used to construct the neural network of the underwater rocker system based on the energy optimal control function Network model; the fourth module is used to solve the neural network model of the underwater rocker system based on the ADP algorithm, and obtain the energy optimal control strategy of the underwater rocker system.

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Abstract

The invention discloses a control method and system of an underwater rocker arm system based on an ADP in the technical field of automatic control. The control method of the underwater rocker arm system comprises the steps that an underwater rocker arm system model considering underwater resistance is established; establishing an energy optimal performance index function of the underwater rocker arm system model; constructing a neural network model of the underwater rocker arm system based on the energy optimal performance index function; and solving the neural network model of the underwater rocker arm system based on an ADP algorithm to obtain an energy optimal control strategy of the underwater rocker arm system. According to the invention, less energy is consumed when the underwater rocker arm moves and resets within a small range.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and in particular relates to a control method and system of an ADP-based underwater rocker system. Background technique [0002] With the increasing demand for industrial automation and the development and improvement of contemporary control technology, it is often required to ensure the stability of the control system and the optimality of the control process and results. Due to the complexity and uncertainty of nonlinear systems in real life, people have been looking for an approximately simplified structure to solve the optimal control of nonlinear affine systems. Adaptive Dynamic Programming (ADP) based on neural network is one of the important research directions. ADP is an algorithm for solving the optimal control problem of the system with an approximate method. [0003] ADP can well overcome the computational difficulties in solving the optimal control problems of nonlinear sy...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042Y02P90/02
Inventor 叶倩
Owner WUXI VOCATIONAL & TECHN COLLEGE
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