Unmanned ship fuzzy prediction control system and method

A technology of fuzzy prediction and predictive control, applied in control/adjustment system, non-electric variable control, two-dimensional position/course control, etc., can solve the problems of poor feasibility, increase adaptability, and maintain the most desired heading angle The effect of optimizing and reducing the problem of biased estimation

Active Publication Date: 2022-01-21
航天时代(青岛)海洋装备科技发展有限公司
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Problems solved by technology

However, this method requires that the model identification part of the system can accurately identify external environmental data, and the final constructed model also needs to be relatively accurate, so it is not feasible in practical application

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  • Unmanned ship fuzzy prediction control system and method
  • Unmanned ship fuzzy prediction control system and method
  • Unmanned ship fuzzy prediction control system and method

Examples

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Embodiment 1

[0162] This example provides an unmanned boat fuzzy predictive control system and method, the system structure block diagram is as follows figure 1 shown, including the following steps:

[0163] Such as image 3 As shown in Fig. 1, preparation work: obtain the position of the unmanned boat itself, plan the expected track by the path planning module, and collect the rudder angle and heading angle information collected by the remote control unmanned boat.

[0164] Step S1: According to the expected trajectory planned by the UAV path planning module and the actual position of the UAV, the optimal expected heading angle is obtained through the adaptive look-ahead distance method to track the desired trajectory. Assuming that the unmanned boat is in the northeast sky coordinate system, a section of expected track vector is A(x a ,y a ) and B(x b ,y b ) represent the coordinates of the starting point and the ending point of the track respectively.

[0165] In order to enabl...

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Abstract

The invention provides an unmanned ship fuzzy prediction control system and method. The control system comprises a guidance module, a model identification module, a prediction control module and a feedback correction module. In the guidance module, an expected course angle is obtained through an adaptive foresight distance method; in the model identification module, an improved least square algorithm is adopted to identify model parameters, and in the predictive control module, the idea of rolling optimization in a generalized predictive control algorithm is applied, and an optimal control quantity is solved according to an optimization objective function in a finite time domain; in the feedback correction module, feedback compensation is designed by adopting a fuzzy principle; in conclusion, through the unmanned ship fuzzy prediction control system and method, the capability of accurately tracking an expected track of the unmanned ship is improved, and the unmanned ship fuzzy prediction control system still has relatively high control precision under complex sea conditions.

Description

technical field [0001] The invention relates to the field of motion control of unmanned boats, in particular to a fuzzy predictive control system and method for unmanned boats. Background technique [0002] An unmanned vehicle is a small surface platform with autonomous environment perception, autonomous planning, and autonomous navigation capabilities. By carrying different mission loads, it can complete different tasks, especially suitable for performing dangerous, boring, and tasks that are not suitable for manned ships. Unmanned boats involve many technologies and have complex system components, but path tracking control technology is one of the most basic and core technologies of unmanned boats. [0003] Due to the underactuation, large inertia, long time lag and other characteristics of the unmanned vehicle, it is difficult to accurately track the desired track in complex sea conditions. Therefore, researching a control system with strong robustness, high control perf...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206Y02T10/40
Inventor 胡常青赵京瑞李清洲王心玥魏红艳陈魁
Owner 航天时代(青岛)海洋装备科技发展有限公司
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