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An anti-surge control device and method for unmanned boats based on support vector regression machine

A technology of support vector regression and control method, applied in the field of unmanned boat anti-surge control device based on support vector regression machine

Active Publication Date: 2016-12-07
精海智能装备有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to provide a kind of unmanned boat anti-surge control device and method based on support vector regression machine for the strong interference existing in the complex ocean environment of the surface unmanned boat and the robustness requirements of the control system, so as to Solve the stability motion control of the surface unmanned vehicle in the environment of strong sea surge interference

Method used

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  • An anti-surge control device and method for unmanned boats based on support vector regression machine
  • An anti-surge control device and method for unmanned boats based on support vector regression machine
  • An anti-surge control device and method for unmanned boats based on support vector regression machine

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Embodiment 1

[0042] Such as figure 1 As shown, the unmanned boat anti-surge control device based on the support vector regression machine, the surface unmanned boat 1 control cabin is equipped with an embedded computer 2, omnidirectional wireless equipment 3 and GPS4 host, GPS4 receiving antenna and wireless equipment 5 The omnidirectional antenna is installed on the top of the surface unmanned boat 1; the compass 5 is installed at the center of gravity of the water surface unmanned boat 1; the embedded computer 2 is connected with the GPS4, the compass 5, and the omnidirectional wireless device 3. The anti-surge control algorithm of the manboat is stored in the embedded computer 2 . According to the longitude and latitude coordinate values ​​obtained by GPS4, the X-band radar monitors the surge information in the surrounding sea area, and transmits it to the embedded computer 2 through the omnidirectional wireless device 3 . The anti-surge control algorithm of the unmanned boat based on ...

Embodiment 2

[0044] see figure 2 , image 3 As shown, the anti-surge control method of unmanned boat based on support vector regression machine is carried out by using the above-mentioned device, and the specific implementation steps are as follows:

[0045] 1) Initialize the surface unmanned vehicle 1, complete the initialization of the position, attitude and on-board equipment of the surface unmanned vehicle 1, and set the initial track after ensuring the normal startup of the system;

[0046] 2) Start the surface unmanned vehicle 1, and the embedded computer 2 sends initial control instructions to the surface unmanned vehicle 1 according to the initially set track control;

[0047] 3) When the omnidirectional wireless device 3 receives the latitude and longitude coordinates of the surface unmanned boat 1 obtained by the GPS 4, and the X-band maritime radar on the base station or the mother ship monitors the surge information in the surrounding sea area, it is different from the unmann...

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Abstract

The invention discloses an unmanned boat anti-surge control device and method based on a support vector regression machine. This device mainly includes: surface unmanned boat, embedded computer, omnidirectional wireless equipment, GPS and compass. Heart; the embedded computer is connected with GPS, compass and wireless equipment, and the control algorithm is stored in the embedded computer. In the process of implementation, the relevant sea area surge information monitored by the X-band radar is received through the wireless device, and the position and attitude information of the unmanned boat is obtained in real time by the compass, and the surge and position information are analyzed by using the anti-surge control algorithm based on the support vector regression machine. Perform calculations and output control instructions; the unmanned boat executes the control instructions to realize the anti-surge interference motion control of the unmanned boat. The invention provides an anti-surge control device and method for an unmanned boat based on a support vector regression machine, which can effectively adapt to external disturbances.

Description

technical field [0001] The invention relates to the fields of surface unmanned boat motion control and anti-sea surge interference, in particular to an unmanned boat anti-surge control device and method based on a support vector regression machine. Background technique [0002] The surface unmanned vehicle is an unmanned intelligent platform that needs to complete various complex tasks autonomously in a complex environment, which requires it to have precise maneuvering and adaptive capabilities. Unmanned surface vehicle is a typical underactuated nonholonomic system, which has the characteristics of model uncertainty, nonlinearity and time-varying, and is disturbed by complex ocean environment. Since the surface unmanned vehicle moves in a complex ocean environment, the hydrodynamic parameters are complicated, which makes it difficult for a single mathematical model to fully realize the course control problem of the unmanned vessel, especially in the presence of disturbances...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/08G05B19/042G06F19/00
Inventor 彭艳崔建祥瞿栋罗均华凌云
Owner 精海智能装备有限公司
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