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Gravity type active net cage lifting sliding-mode control method based on reachable set estimation

A control method and gravity-type technology, which is applied in the design field of gravity-type active cages for marine aquaculture, and can solve problems such as the gravity-type active cages are easy to dump

Pending Publication Date: 2020-08-11
MINJIANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Under the action of sea waves, gravity active cages are prone to serious accidents such as dumping during the settlement process, so it is necessary to provide a technology to achieve stability and rapidity during the lifting process of gravity active cages

Method used

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  • Gravity type active net cage lifting sliding-mode control method based on reachable set estimation
  • Gravity type active net cage lifting sliding-mode control method based on reachable set estimation
  • Gravity type active net cage lifting sliding-mode control method based on reachable set estimation

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Embodiment Construction

[0182] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0183] It should be pointed out that the following detailed description is exemplary and is intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0184] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combina...

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Abstract

The invention relates to a gravity type active net cage lifting sliding-mode control method based on reachable set estimation, and the method comprises the steps: firstly analyzing the motion principle of gravity type active net cage lifting, building a singular nonlinear system equation of deepwater net cage lifting, and expressing the singular nonlinear system equation as a T-S fuzzy model; secondly, giving a fuzzy sliding mode controller to design the time for the lifting control system state trajectory to reach the sliding mode surface, and calculating the limit of the system state trajectory from an initial state to the sliding mode surface and the limit of the system state trajectory after reaching the sliding mode surface; and finally, based on the Lyapunov function stability principle, designing a finite time bounded fuzzy sliding mode controller. The stability and rapidity of the gravity type active net cage in the lifting process can be guaranteed.

Description

technical field [0001] The invention relates to the technical field of marine aquaculture gravity active net cage design, in particular to a gravity active net cage lifting synovial film control method based on reachable set estimation. Background technique [0002] Fishery seawater cage culture "depends on the sky", and the gravity active cage can settle to avoid strong wind and waves, so as to realize the reliability and increase of seawater culture. Under the action of sea waves, gravity active cages are prone to serious accidents such as toppling during settlement, so it is necessary to provide a technology to achieve stability and rapidity in the lifting process of gravity active cages. Contents of the invention [0003] In view of this, the object of the present invention is to propose a gravity-type active net cage lifting synovial film control method based on reachable set estimation, so as to ensure the stability and rapidity in the gravity-type active net cage li...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 汪星一钟智雄张祖昌
Owner MINJIANG UNIV
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