CN109828462A - Wave glider becomes under the speed of a ship or plane adaptive bow to controller and control method - Google Patents
Wave glider becomes under the speed of a ship or plane adaptive bow to controller and control method Download PDFInfo
- Publication number
- CN109828462A CN109828462A CN201910123250.7A CN201910123250A CN109828462A CN 109828462 A CN109828462 A CN 109828462A CN 201910123250 A CN201910123250 A CN 201910123250A CN 109828462 A CN109828462 A CN 109828462A
- Authority
- CN
- China
- Prior art keywords
- bow
- ship
- speed
- plane
- wave glider
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Feedback Control In General (AREA)
Abstract
The present invention is to provide a kind of wave gliders to become under the speed of a ship or plane adaptive bow to controller and control method.Using the principle of similitude, becomes the bow under the speed of a ship or plane to response equation Parameter Variation in conjunction with wave glider, realize the automatic adjusument of extended state observer parameter.Status information of the wave glider bow to, bow to change rate and suffered disturbance is obtained using extended state observer, status information is inputted into curved surface controller, and compensate for disturbance adjusting curved surface offset.By Nonlinear Tracking Differentiator transition process arranging, reduces wave glider and it is expected overshoot of the bow to bow when mutation to response.Method of the invention makes wave glider be able to achieve reliable, response excellent effect bow under the different speed of a ship or plane, disturbance to control, improves wave glider submerged body bow to control robustness.Controller parameter is easily adjusted less, is had and is become parameter adaptive ability under the speed of a ship or plane, is solved wave glider submerged body bow under the change speed of a ship or plane and is improved the applicability of controller to control problem.
Description
Technical field
The present invention relates to a kind of bows of wave glider to control device, and the present invention also relates to a kind of wave gliders
Bow to control method.
Background technique
Wave glider is as a kind of novel sea observation platform, not by the way of the propulsion of traditional aircraft propeller,
It is converted into the power of itself navigation by the wave energy in capture ocean, provides electric power using solar energy for control system, has
Long endurance, the work capacity of big voyage.Meanwhile to be also equipped with operation cost low for wave glider, to zero environmental, severe sea condition
The features such as lower survival ability is strong.Therefore, wave glider is widely used in various long-term, large-scale oceanographic observation task,
Such as weather information is collected, biology migrates tracking, marine environmental monitoring.
Since wave glider navigating power is transformed by wave energy, rather than by means of stably and controllable propeller
Equal puopulsion equipments, therefore at the speed of a ship or plane of navigation process Wave glider in the value region of an absolute value very little, most
About 3kn, and the speed of a ship or plane is uncontrollable.Although the absolute value of wave glider speed of a ship or plane variation is smaller, its relative increment
It is very big compared to other aircraft.According to Ship Controling sex knowledge it is found that when speed of a ship or plane relative variation is larger, to boat
Row device bow influences very big to control response.When wave glider navigates by water under low sea situation environment, bow is to control response speed
Can be greatly reduced, at this point, traditional PID bow to controller control wave glider submerged body bow to when, due to bow to response speed
Degree is slow, will cause integral term and largely accumulates, and causes bow to control overshoot or diverging, and can draw if reducing integral item coefficient
Rise system convergence rate under Static disturbance it is slow, control effect is poor.If more to control setting for the bow under the different speed of a ship or plane
Group pid parameter, then can consume a large amount of debug time.Therefore under the different speed of a ship or plane, the wave glider under the especially ultralow speed of a ship or plane
Bow is that wave glider navigates by water problem very important in control to control.
In Active Disturbance Rejection Control theory, extended state observer can outputting and inputting come the inside to system according to system
Information and disturbance situation are observed and are estimated in real time.However parameter is numerous in automatic disturbance rejection controller, adjustment parameter is complicated, and joins
Several settings are influenced by response model, and in the case where becoming the speed of a ship or plane, the bow of wave glider is larger to response model Parameters variation, this
Increase the application difficulty of Auto-disturbance-rejection Control.Traditional curved surface controller has response fastly, strong robustness, control parameter tune
The simple equal many merits of section are usually used in the bow of water surface robot to control.When there are internal or external stable states to do for controlled system
When disturbing, the deviant for needing to be arranged curved surface controller compensates interference.However during the navigation of wave glider, with
The variation of ocean current, wave glider submerged body bow to Static disturbance be not it is constant, this just makes the deviant of curved surface controller
Setting causes difficulty.
It is a kind of using the four of tandem Auto Disturbances Rejection Control Technique disclosed in the patent document of Publication No. CN 104865968A
In rotor craft Hovering control method, quadrotor Hovering control strategy is designed by tandem auto-disturbance rejection technology, will be
The model uncertainty of system and system inside and outside disturbance estimation extended state observer real-time estimation simultaneously compensate.Publication No. CN
Technical solution disclosed in the patent document of 104865968A considers wave glider bow to response model and similar to the present invention
Principle, and then a kind of wave glider proposed becomes under the speed of a ship or plane adaptive bow to control method, to solve to become the speed of a ship or plane, bow to sound
Wave glider submerged body bow under answering model parameter substantially to change has essential difference to control problem.
Summary of the invention
The purpose of the present invention is to provide one kind to be able to ascend wave glider under the conditions of the different speed of a ship or plane and ocean current interference
Bow become under the speed of a ship or plane adaptive bow to controller to the wave glider of control robustness.The object of the invention is also to provide one
Kind adaptive bow is become under the speed of a ship or plane to the control method of controller based on wave glider of the invention.
The object of the present invention is achieved like this:
Wave glider of the invention becomes adaptive bow under the speed of a ship or plane and forms to controller, three parts cascaded structure, respectively
Nonlinear Tracking Differentiator TD, extended state observer and curved surface controller, the disturbance compensation parameter b root in the extended state observer
It is adjusted in real time according to the current speed of a ship or plane of wave glider, disturbance compensation parameter b is wave glider submerged body bow to non-linear one
The ratio of K and T in rank KT equation, obtains disturbance compensation parameter b using the principle of similitude under the different speed of a ship or plane；The expansion state is seen
Total interference of device real-time estimation system is surveyed, and the curved surface deviant for adjusting curved surface controller carries out interference compensation.
Included the following steps: based on adaptive bow under the wave glider change speed of a ship or plane of the invention to the control method of controller
It is tried step 1: carrying out the test of wave glider rotary motion under an operating condition without ocean current interference with Z-type steering
It tests, records the speed of a ship or plane V under this operating condition of wave glider0With bow to response；
Step 2: establishing wave glider submerged body bow to nonlinear first-order KT equation, and utilize rotary motion test and Z-type
K, T, the alpha parameter of the test data identification wave glider submerged body of steering test, extrapolate other boats using the principle of similitude later
K, T, the alpha parameter of the lower wave glider submerged body of speed；
Step 3: it is expected bow to ψ wave gliderEInput Nonlinear Tracking Differentiator transition process arranging x1, and obtain its differential
Signal x2；
Step 4: main control computer is calculated and is updated according to the current speed of a ship or plane V of the wave glider of speed of a ship or plane sensor feedback
Disturbance compensation parameter b in extended state observer；
Step 5: by current wave glider submerged body bow to ψGExtended state observer is inputted, exporting 3 bows to response is
The internal state information of system；
Step 6: by extended state observer output bow into the internal state information of response system bow to angular speed
Expectation bow of the information respectively with Nonlinear Tracking Differentiator output obtains error signal as difference to the amount of approaching and its approximate differential, and error is believed
Number and disturbing signal of the bow into the internal state information of response system input curved surface controller, exported and controlled by curved surface controller
System it is expected rudder angle δE；
Step 7: main control computer control steering engine goes to desired rudder angle δE, and return to the control that third step carries out next beat
System.
Adaptive bow is to control method under the wave glider change speed of a ship or plane of the invention, first with the principle of similitude, combination ripple
Unrestrained glider becomes the bow under the speed of a ship or plane to response equation Parameter Variation, realizes the adaptive tune of extended state observer parameter
Section.Status information of the wave glider bow to, bow to change rate and suffered disturbance is obtained using extended state observer, by state
Information input curved surface controller, and compensated for disturbance adjusting curved surface offset.It arranged to tide over by Nonlinear Tracking Differentiator
Journey reduces wave glider and it is expected overshoot of the bow to bow when mutation to response.A kind of adaptive wave glider bow
To control method, make wave glider under the different speed of a ship or plane, the bow of reliable response excellent effect is able to achieve under disturbance
To control, wave glider submerged body bow is improved to control robustness.Controller parameter is few easily to be adjusted, and is had and is become parameter under the speed of a ship or plane
Adaptive ability solves wave glider submerged body bow under the change speed of a ship or plane and improves the applicability of controller to control problem.
The present invention devises a kind of adaptive bow to control rate for the speed of a ship or plane feature of wave glider, and it is sliding to improve wave
Xiang device is in the different speed of a ship or plane and bow under the conditions of ocean current interference to control robustness.
The characteristics of present invention combination Nonlinear Tracking Differentiator, extended state observer and curved surface controller, considers wave glider
Bow proposes that a kind of parameter is few to response model and the principle of similitude, have become the speed of a ship or plane under parameter adaptive ability adaptive bow to
Control method.Wave glider submerged body bow is solved under the different speed of a ship or plane to control problem.
Technical solution disclosed in the patent document of Publication No. CN 104865968A and consideration wave of the invention glide
Device bow is to response model and the principle of similitude, but a kind of wave glider proposed by the present invention becomes under the speed of a ship or plane adaptive bow to control
Method, to solve to become the speed of a ship or plane, bow substantially change to response model parameter lower wave glider submerged body bow to control problem and
The patent document of Publication No. CN104865968A has essential difference.
Compared with prior art, the beneficial effects of the present invention are: using the principle of similitude, by wave glider difference speed of a ship or plane shape
Submerged body maneuverability coefficient changing rule under state introduces the parameter regulation of extended state observer, has both reduced the difficulty of parameter regulation
Degree, and make extended state observer that there is good adaptivity when the wave glider speed of a ship or plane changes and generates model perturbation.Together
When, present invention incorporates curved surface controller parameter features easy to adjust, pass through Nonlinear Tracking Differentiator, extended state observer and song
The cascaded structure of face controller, all having submerged body bow of the wave glider under the different speed of a ship or plane to control, reliable, response is fast
The anti-Static disturbance ability of speed, improves robustness of the wave glider bow to control.
Detailed description of the invention
Fig. 1 is that wave glider of the invention becomes under the speed of a ship or plane adaptive bow to control system architecture schematic diagram；
Fig. 2 is that wave glider of the invention becomes under the speed of a ship or plane adaptive bow to control method flow chart.
Specific embodiment
The invention will be further described for citing with reference to the accompanying drawing.
Embodiment one:
Adaptive bow is consisted of three parts to controller into cascaded structure under the wave glider change speed of a ship or plane of the invention: point
It Wei not Nonlinear Tracking Differentiator (TD), extended state observer and curved surface controller.The wherein disturbance compensation in extended state observer
Parameter b is adjusted in real time according to the current speed of a ship or plane of wave glider.Disturbance compensation parameter b is wave glider submerged body bow to non-
The ratio of K and T, obtains disturbance compensation parameter b using the principle of similitude under the different speed of a ship or plane in linear single order KT equation.Expansion state
Total interference of observer real-time estimation system, and the curved surface deviant for adjusting curved surface controller carries out interference compensation.
Wave glider of the invention becomes adaptive bow under the speed of a ship or plane and includes the following steps: to control method
It is grasped step 1: carrying out the test of wave glider rotary motion under a typical condition without ocean current interference with Z-type
Rudder experiment.Record the speed of a ship or plane V under this operating condition of wave glider0With bow to response.
Step 2: establishing wave glider submerged body bow to nonlinear first-order KT equation, and recognize wave using test data
K, T, the alpha parameter of glider submerged body.Joined later using K, T, α that the principle of similitude extrapolates wave glider submerged body under other speed of a ship or plane
Number.
Step 3: it is expected bow to ψ wave gliderEInput Nonlinear Tracking Differentiator transition process arranging x1, and obtain its differential
Signal x2。
Step 4: main control computer is calculated and is updated according to the current speed of a ship or plane V of the wave glider of speed of a ship or plane sensor feedback
Disturbance compensation parameter b in extended state observer.
Step 5: by current wave glider submerged body bow to ψGExtended state observer is inputted, exporting 3 bows to response is
The internal state information of system.
Step 6: by extended state observer output bow into the internal state information of response system bow to angular speed
Expectation bow of the information respectively with Nonlinear Tracking Differentiator output obtains error signal as difference to the amount of approaching and its approximate differential, and error is believed
Number and disturbing signal of the bow into the internal state information of response system input curved surface controller, exported and controlled by curved surface controller
System it is expected rudder angle δE。
Step 7: main control computer control steering engine goes to desired rudder angle δE, and return to the control that third step carries out next beat
System.
Embodiment two:
Wave glider is made of floating body, submerged body, is connected between floating body and submerged body by heaving pile.It is equipped on the floating body
Main control computer and speed of a ship or plane sensor are equipped with bow to sensor and steering engine on the submerged body.Speed of a ship or plane sensor measurement wave is sliding
The current speed of a ship or plane V of Xiang device, bow is to sensor measurement submerged body bow to ψG, main control computer is by becoming the adaptive bow of the speed of a ship or plane to controlling party
Method calculates expectation rudder angle δE, and control steering engine complete to submerged body bow to control.
In conjunction with Fig. 1 describe Wave glider of the present invention become under the speed of a ship or plane adaptively bow to control system architecture schematic diagram.Institute
A kind of wave glider for stating become under the speed of a ship or plane adaptive bow to control include: bow to controller into cascaded structure, by three parts group
At: it is respectively Nonlinear Tracking Differentiator (TD), extended state observer and curved surface controller.The wherein disturbance in extended state observer
Compensating parameter b is adjusted in real time according to the current speed of a ship or plane of wave glider.Disturbance compensation parameter b is wave glider submerged body bow
The ratio of K and T into nonlinear first-order KT equation, obtains disturbance compensation parameter b using the principle of similitude under the different speed of a ship or plane.Expansion
Total interference of state observer real-time estimation system, and interference compensation is carried out by the curved surface deviant of curved surface controller.
Describing Wave glider of the present invention in conjunction with Fig. 2, to become under the speed of a ship or plane the step of adaptively bow is to control method as follows:
It is grasped step 1: carrying out the test of wave glider rotary motion under a typical condition without ocean current interference with Z-type
Rudder experiment.Record the speed of a ship or plane V under this operating condition of wave glider0With bow to response,
Step 2: establishing wave glider submerged body bow to nonlinear first-order KT equation, it may be assumed that
Wherein T is to answer rudder index (time constant), and K is revolution sex index, and α is model nonlinear term coefficient (Norbbin system
Number),Angular acceleration is turned round for wave glider submerged body, r is that wave glider submerged body turns round angular speed.According to test data benefit
With the common identification Method identification wave glider such as least square method in speed of a ship or plane V0The K of Shi Qianti0、T0、α0Parameter.Wave
The zero dimension maneuverability coefficient of unrestrained glider submerged body are as follows:
Wherein L is wave glider submerged body length.According to the principle of similitude, the manipulation of wave glider submerged body at speed of a ship or plane V
Property coefficient can use speed of a ship or plane V0Lower-pilot parameter is derived from.That is:
Step 3: it is expected bow to ψ wave gliderEInput Nonlinear Tracking Differentiator transition process arranging x1, and obtain its differential
Signal x2.The tracking derivative controller of discrete form is expressed as follows:
Wherein, fhan (x1(k),x2(k), r, h) it is time-optimal control comprehensive function, expression formula is as follows:
V (k) indicates the input signal changed over time, i.e. wave glider it is expected bow to ψE(k)；x1(k) it indicates to input
The pursuit gain of signal；x2(k) change rate of input signal is indicated；R is Turbo Factor；H is control beat.
Step 4: main control computer is calculated and is updated according to the current speed of a ship or plane V of the wave glider of speed of a ship or plane sensor feedback
Disturbance compensation parameter b in extended state observer.
Step 5: by current wave glider submerged body bow to ψGExtended state observer is inputted, exporting 3 bows to response is
The internal state information of system.
Wherein:
Y (k) is the output of system, the i.e. current submerged body bow of wave glider to ψG(k)；U (k) is the control amount of system, i.e.,
The current rudder angle δ (k) of wave glider；z1For extended state observer output submerged body bow to z2Angular speed is turned round for submerged body to estimate
Meter；z3For system disturbance estimation；β01, β02And β03For gain coefficient；δ1For adjustable parameter；H is control beat.
Step 6: by extended state observer output bow into the internal state information of response system bow to angular speed
Information z1、z2The expectation bow with Nonlinear Tracking Differentiator output is to the amount of approaching and its approximate differential x respectively1、x2Error signal is obtained as difference
And it is normalized.The disturbing signal of normalized error signal and bow into the internal state information of response system is inputted bent
Face controller it is expected rudder angle δ by curved surface controller output control systemE.The Controlling model of curved surface controller are as follows:
Wherein e,For normalized error signal；uEFor the output of normalized control force；k1、k2Respectively correspond to deviation and
The control parameter of deviation variation rate is generally taken as 3.0 or so according to the characteristic of curved surface controller；δmaxFor maximum output rudder angle；
δEIt is expected rudder angle.
Step 7: main control computer control steering engine goes to desired rudder angle δE, and return to the control that third step carries out next beat
System.
Claims (5)
- It is made of three parts cascaded structure, respectively tracks to controller 1. a kind of wave glider becomes adaptive bow under the speed of a ship or plane Differentiator TD, extended state observer and curved surface controller, it is characterized in that: the disturbance compensation in the extended state observer is joined Number b are adjusted in real time according to the current speed of a ship or plane of wave glider, and disturbance compensation parameter b is wave glider submerged body bow to non-thread The ratio of K and T, obtains disturbance compensation parameter b using the principle of similitude under the different speed of a ship or plane in property single order KT equation；The expansion shape Total interference of state observer real-time estimation system, and the curved surface deviant for adjusting curved surface controller carries out interference compensation.
- 2. a kind of become the control method of adaptive bow under the speed of a ship or plane to controller based on wave glider described in claim 1, It is characterized in:Step 1: carrying out the test of wave glider rotary motion and Z-type steering test, note under an operating condition without ocean current interference The speed of a ship or plane V under this operating condition of recording wave glider0With bow to response；Step 2: establishing wave glider submerged body bow to nonlinear first-order KT equation, and utilize rotary motion test and Z-type steering It is sliding to extrapolate wave under other speed of a ship or plane using the principle of similitude later for the parameter of the test data identification wave glider submerged body of test The parameter of Xiang device submerged body；Step 3: it is expected bow to ψ wave gliderEInput Nonlinear Tracking Differentiator transition process arranging x1, and obtain its differential signal x2；Step 4: main control computer calculates according to the current speed of a ship or plane V of the wave glider of speed of a ship or plane sensor feedback and updates expansion Disturbance compensation parameter b in state observer；Step 5: by current wave glider submerged body bow to ψGExtended state observer is inputted, exports 3 bows to response system Internal state information；Step 6: by extended state observer output bow into the internal state information of response system bow to angular velocity information Respectively with Nonlinear Tracking Differentiator output expectation bow obtain error signal as difference to the amount of approaching and its approximate differential, by error signal with Disturbing signal of the bow into the internal state information of response system inputs curved surface controller, by curved surface controller output control system It is expected that rudder angle δE；Step 7: main control computer control steering engine goes to desired rudder angle δE, and return to the control that third step carries out next beat.
- 3. control method according to claim 2, it is characterized in that: the parameter of unrestrained glider submerged body include answer rudder index T, Turn round sex index K, model nonlinear term coefficient α, speed of a ship or plane V under the operating condition of no ocean current interference0Under parameter be K0、T0、α0, described The parameter of wave glider submerged body refers under other speed of a ship or plane extrapolated using the principle of similitude, and wave glider is latent at speed of a ship or plane V The maneuverability coefficient of body utilizes speed of a ship or plane V under the operating condition without ocean current interference0Lower-pilot parameter is derived from, and is indicated are as follows:Wherein: L is wave glider submerged body length.
- 4. control method according to claim 3, it is characterized in that the wave according to speed of a ship or plane sensor feedback glides The current speed of a ship or plane V of device is calculated and is updated the disturbance compensation parameter b in extended state observer and specifically includes:
- 5. according to control method described in Claims 2 or 3 or 4, it is characterized in that the Controlling model of curved surface controller are as follows:Wherein e,For normalized error signal；uEFor the output of normalized control force；k1、k2Respectively correspond to deviation and deviation The control parameter of change rate；δmaxFor maximum output rudder angle；δEIt is expected rudder angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910123250.7A CN109828462A (en) | 2019-02-18 | 2019-02-18 | Wave glider becomes under the speed of a ship or plane adaptive bow to controller and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910123250.7A CN109828462A (en) | 2019-02-18 | 2019-02-18 | Wave glider becomes under the speed of a ship or plane adaptive bow to controller and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109828462A true CN109828462A (en) | 2019-05-31 |
Family
ID=66863785
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910123250.7A Pending CN109828462A (en) | 2019-02-18 | 2019-02-18 | Wave glider becomes under the speed of a ship or plane adaptive bow to controller and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109828462A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110967975A (en) * | 2019-12-14 | 2020-04-07 | 大连海事大学 | Self-adaptive extended state observer structure |
| CN111367178A (en) * | 2019-12-26 | 2020-07-03 | 北京海兰信数据科技股份有限公司 | Self-adaptive control device and method for automatic rudder of ship |
| CN116736709A (en) * | 2023-06-09 | 2023-09-12 | 哈尔滨工程大学 | Dynamic compensation type active disturbance rejection heading control method for marine robot |
| CN118466174A (en) * | 2024-07-11 | 2024-08-09 | 中国船舶集团有限公司第七〇七研究所 | Ship orientation control method based on autoregressive model prediction proportional-integral-derivative |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140064026A1 (en) * | 2012-09-04 | 2014-03-06 | Apache Corporation | Wave glider with streamer orientation sensor |
| CN106990787A (en) * | 2017-05-16 | 2017-07-28 | 哈尔滨工程大学 | Wave glider destination tracking from a kind of upper lower body bow to information fusion |
| CN107741744A (en) * | 2017-11-15 | 2018-02-27 | 哈尔滨工程大学 | A kind of optimal bow of observation platform is to control method |
| CN107765701A (en) * | 2017-11-15 | 2018-03-06 | 哈尔滨工程大学 | A kind of bow suitable for revolving body platform is to control method |
| CN108284915A (en) * | 2018-02-28 | 2018-07-17 | 哈尔滨工程大学 | Wave glider binary yawing response prediction method |
| CN108829102A (en) * | 2018-06-12 | 2018-11-16 | 哈尔滨工程大学 | The wave glider course heading control method that adaptive bow is merged to information |
| CN112483261A (en) * | 2020-11-16 | 2021-03-12 | 大连理工大学 | Method for resisting stress application disturbance of aircraft engine |
-
2019
- 2019-02-18 CN CN201910123250.7A patent/CN109828462A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140064026A1 (en) * | 2012-09-04 | 2014-03-06 | Apache Corporation | Wave glider with streamer orientation sensor |
| CN106990787A (en) * | 2017-05-16 | 2017-07-28 | 哈尔滨工程大学 | Wave glider destination tracking from a kind of upper lower body bow to information fusion |
| CN107741744A (en) * | 2017-11-15 | 2018-02-27 | 哈尔滨工程大学 | A kind of optimal bow of observation platform is to control method |
| CN107765701A (en) * | 2017-11-15 | 2018-03-06 | 哈尔滨工程大学 | A kind of bow suitable for revolving body platform is to control method |
| CN108284915A (en) * | 2018-02-28 | 2018-07-17 | 哈尔滨工程大学 | Wave glider binary yawing response prediction method |
| CN108829102A (en) * | 2018-06-12 | 2018-11-16 | 哈尔滨工程大学 | The wave glider course heading control method that adaptive bow is merged to information |
| CN112483261A (en) * | 2020-11-16 | 2021-03-12 | 大连理工大学 | Method for resisting stress application disturbance of aircraft engine |
Non-Patent Citations (4)
| Title |
|---|
| PENG WANG: "Dynamic modeling and simulations of the wave glider", 《APPLIED MATHEMATICAL MODELLING》 * |
| YE LI: "Improved active disturbance rejection heading control for unmanned wave glider", 《APPLIED OCEAN RESEARCH》 * |
| 王振业: "全垫升气垫船安全航行自抗扰控制策略研究", 《中国博士学位论文全文数据库》 * |
| 王磊峰: "基于人工鱼群算法的波浪滑翔器艏向模型辨识与控制", 《JOURNAL OF CENTRAL SOUTH UNIVERSITY》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110967975A (en) * | 2019-12-14 | 2020-04-07 | 大连海事大学 | Self-adaptive extended state observer structure |
| CN110967975B (en) * | 2019-12-14 | 2022-07-01 | 大连海事大学 | Self-adaptive extended state observer structure |
| CN111367178A (en) * | 2019-12-26 | 2020-07-03 | 北京海兰信数据科技股份有限公司 | Self-adaptive control device and method for automatic rudder of ship |
| CN116736709A (en) * | 2023-06-09 | 2023-09-12 | 哈尔滨工程大学 | Dynamic compensation type active disturbance rejection heading control method for marine robot |
| CN116736709B (en) * | 2023-06-09 | 2024-07-16 | 哈尔滨工程大学 | Dynamic compensation type active disturbance rejection heading control method for marine robot |
| CN118466174A (en) * | 2024-07-11 | 2024-08-09 | 中国船舶集团有限公司第七〇七研究所 | Ship orientation control method based on autoregressive model prediction proportional-integral-derivative |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108803632B (en) | Water surface unmanned ship all-state constraint trajectory tracking control method based on saturation compensation technology | |
| CN109828462A (en) | Wave glider becomes under the speed of a ship or plane adaptive bow to controller and control method | |
| CN110597069B (en) | Underwater robot self-adaptive regional power positioning control method based on RBF neural network | |
| CN108563130B (en) | Method, equipment and medium for controlling automatic berthing of under-actuated ship adaptive neural network | |
| Fan et al. | Course keeping control based on integrated nonlinear feedback for a USV with pod-like propulsion | |
| CN108319140B (en) | Redefined output type model-free self-adaptive course control method and system | |
| CN109828570A (en) | A kind of adaptive boundary layer unmanned surface vehicle control guidance method | |
| CN102331717A (en) | Intelligent control method of navigational speed of ship | |
| CN111352341B (en) | Ship navigation control online self-adaptive adjustment system and method | |
| CN106557088A (en) | A kind of ship course keeping control device and its control method based on event trigger mechanism | |
| CN109739248B (en) | Ship-borne three-degree-of-freedom parallel stable platform stability control method based on ADRC | |
| CN112965371A (en) | Water surface unmanned ship track rapid tracking control method based on fixed time observer | |
| CN116736709B (en) | Dynamic compensation type active disturbance rejection heading control method for marine robot | |
| CN108717263A (en) | Model-free adaption course heading control method of the more body bows of wave glider to fusion | |
| CN113821030A (en) | Fixed time trajectory tracking control method of under-actuated unmanned ship | |
| CN108829102B (en) | Course control method of wave glider with self-adaptive heading information fusion | |
| Jing et al. | Self-tuning adaptive active disturbance rejection pitch control of a manta-ray-like underwater glider | |
| CN113419422A (en) | Marine rudder fin combined anti-rolling control system | |
| CN113296511A (en) | Ship course control method based on drift angle compensation and improved supercoiling algorithm | |
| CN114489090B (en) | Course control method of flying wing layout underwater glider based on roll active disturbance rejection control | |
| CN109116727B (en) | PID type first-order full-format model-free self-adaptive cruise control algorithm based on low-pass filter | |
| CN114137826B (en) | Bow algorithm-based ship dynamic positioning active disturbance rejection control method | |
| Wen et al. | Orientation control of the Wave Glider with uncertain environment disturbances and unknown variable hydrodynamics coefficients: Theory and simulation | |
| CN109828463A (en) | A kind of adaptive wave glider bow of ocean current interference is to control method | |
| CN114035567B (en) | Unmanned surface vehicle navigation control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190531 |