The invention discloses an unmanned surface vessel linear tracking method based on a fuzzy PID. The method includes the following steps of dynamically obtaining a course angle of an unmanned surface vessel and real-time longitude and latitude coordinate values by means of a GPS device, calculating a distance deviation and an angle deviation by means of a vector cross product method, dynamically adjusting a parameter value of the PID by means of the fuzzy relationship between the distance deviation and the PID parameter and the angle deviation and the PID parameter, calculating control voltages U of a left electric propeller and a right electric propeller, and pushing the surface vessel to advance after control voltages are applied to a motor. As is shown by simulation and experiment results, the method has good tracking effects on the condition that a straight slope, a USV starting point and a starting angle are different, has good adaptability, can effectively avoid U-turn phenomena, and is superior to a PID controller in linear tacking performance.

Unmanned surface vessel linear tracking method based on fuzzy PID

The invention discloses an extreme value optimization self-adjusting digital PID control method used for a megawatt inverter system According to the method, a model input signal and a system error signal of the megawatt inverter system and an adjustable parameter initial value serve as digital PID controller input The control parameter Kp, the control parameter Ki and the control parameter Kd of a PID controller are encoded into a binary sequence, iterative optimization is carried out on the binary sequence through a binary encoding extreme value optimization solver until an end condition preset by a project planner is met, so that an optimal binary sequence is automatically adjusted, converted into a PID controller optimum control parameter through the binary encoding and then transmitted to the megawatt inverter system, and real-time on-time optimal control is achieved Compared with an engineering adjusting method based on an empirical rule, the extreme value optimization self-adjusting digital PID control method has the advantages that the PID controller parameter can be adjusted on line and optimized in real time Compared with a genetic algorithm and other intelligent optimizing methods, the extreme value optimization self-adjusting digital PID control method is less in number of adjustable parameters, simpler in implementation, and higher in optimizing efficiency

Extreme value optimization self-adjusting digital PID control method used for megawatt inverter system

Steering engine saturation resistant self-adaptive control method for ship courses

The invention discloses a non-linear H infinite inverse optimization output feedback controller-based ship course motion control method. A ship course motion and wave interference filter is designed; on the basis of combination of ship course information collected in real time by a shipbone compass, course motion information generated by the effect of a ship rudder and sea wave disturbance information are estimated; a ship course motion H infinite inverse optimization controller that is designed based on a ship course local optimization H infinite controller is used to obtain an optimum control rudder angle by combining the course motion information obtained by estimation, so that the ship can move along a preset course; a control effect monitor is designed to record the course angle; and the control rudder angle of the ship in real time and whether the ship can track a ship course reference model is determined; and if the tracking effect is bad, the controller is adjusted timely.

Non-linear H infinite inverse optimization output feedback controller-based ship course motion control method

The invention discloses a fuzzy PID algorithm based ship course controller. The controller comprises an input unit, an analog-to-digital conversion unit, a fuzzy parameter correction unit, a PID adjustment unit, a PWM signal output unit and a stepper motor driving unit, and is characterized in that the input unit is used for acquiring ideal rudder angle deflection according to a rudder direction deflection angle required by a ship and the output of the stepper motor driving unit; the analog-to-digital conversion unit is used for carrying out digital-to-analog conversion and analog-to-digital conversion; the fuzzy parameter correction unit is used for carrying out fuzzy parameter correction according to the output of the stepper motor driving unit and the ideal rudder angle deflection; the PID adjustment unit carries out PID adjustment according to the output of the fuzzy parameter correction unit and the output of the output of the stepper motor driving unit; the PWM signal output unit is used for outputting PWM waveform controlling operations of a stepper motor according to the output of the PID adjustment unit; and the stepper motor driving unit is used for driving the stepper motor to control the ship course, and feeds back the position, the speed and the rudder deflection angle of a ship in real time. The controller disclosed by the invention realizes adaptive control for a ship steering engine by adopting the fuzzy PID control algorithm.

Fuzzy PID algorithm based ship course controller

The invention provides a ship course variable universe fuzzy and least square support vector machine compound control method, which comprises the following steps of: setting an expected course angle, forming course angle deviation between a feedback value of an actual course angle and the set expected course angle, and resolving a change rate of the course angle deviation; adjusting an input universe of the course angle deviation and the deviation change rate, generating a new course angle deviation and a new course angle deviation change rate, transmitting the new course angle deviation and the new course angle deviation change rate serving as two input variables to variable universe fuzzy control, obtaining a control rule required by course control according to a fuzzy rule, outputting a rudder angle command signal, and transmitting the rudder angle command signal to steering engine servo for steering; obtaining a course angle, rudder angle, course changing angle rate time sequence through intermediate storage according to actual system output, using the time sequence as an input vector to train a network structure of a least square support vector machine, dynamically identifying a ship course motion inverse model and generating a feedforward compensation control signal; and tracking the given expected course according to command course accuracy due to ship course variable universe fuzzy and least square support vector machine compound control.

Ship course variable universe fuzzy and least square support vector machine compound control method

The invention provides a servocontrol method for a single channel electrohydraulic position of an underwater vehicle omnibearing thruster. The servocontrol method mainly comprises links of model identification, control on parameter optimization and position deviation detection; when an underwater vehicle is in an oceanic condition, a kinetic mathematical model of the underwater vehicle omnibearing thruster is obtained through identification, an operation of optimizing PID (piping and instruments diagram) parameters by adopting a genetic algorithm is carried out on the basis of the mathematical model, and the parameter obtained by optimization is given to an actual underwater vehicle omnibearing thruster control system; the underwater vehicle can carry out posture regulation or motion under the parameter obtained by the optimization, the declinational data statistics value of a pitch angle is continually detected in an adjustment process; if a sea condition generates variation, the parameter of a kinetic equation of the underwater vehicle is changed; and when the parameter value of the kinetic equation of the underwater vehicle exceeds a set range, a model is identified again and the PID parameter is optimized again. The servocontrol method provided by the invention has a better adaptation function along with the change of the sea condition, and system energy consumption is saved; and the system is simple, is easy to realize, and has engineering application value.

Servocontrol method for single channel electrohydraulic position of underwater vehicle omnibearing thruster

The invention provides a TMS320C6713-based fuzzy proportion integration differentiation (PID) fusion controller and a TMS320C6713-based fuzzy PID fusion control method for a course of a ship A TMS320C6713 chip (U3) is taken as a core data processor, a TPS75733 chip (U1) is used for providing 33V working voltage for the core data processor, a TPS54310 chip (U2) is used for providing 14V working voltage for the core data processor, a MAX706 chip is used as a resetting circuit, the core data processor stores data by using an SST39VF1601 chip (U7) FLASH memory, a data line of a TL16C752B chip (U9) is directly connected with the TMS320C6713 chip (U3), an address line of the TL16C752B chip (U9) is selected by an SN74F32 chip (U18), and the TL16C752B chip (U9) realizes dual-serial port communication through two MAX3160 chips A set course value of an upper computer, a current course angle and a course angle value fed back by a rudder servo system are acquired, and the rudder servo system is controlled on the basis of a fuzzy-PID fusion control algorithm, so that the controller and the method have the characteristics of high accuracy, high reliability, simple structure and the like

TMS320C6713-based fuzzy proportion integration differentiation (PID) fusion controller and control method for course of ship

The invention provides a heading robust intelligent coordination control method for a pump-paddle hybrid propelled ship, wherein comprises the following steps: setting a command heading; acquiring the heading angle, heading angular velocity, swaying displacement and swaying speed of actual heading of the ship and feeding the information back to a robust controller by a heading detection device to; calculating a heading yawing torque required by the heading control by the robust controller by using a H2/H infinity control algorithm and combining with performance evaluation indexes of a control system; calculating and acquiring a helm angle value and a nozzle corner value by a pump paddle hybrid intelligent decision system by using a self-adaption genetic algorithm, and then respectively sending the helm angle value and the nozzle corner value to a steering engine servo system and a nozzle corner servo system; and changing the actual heading of the ship into the command heading under the combined control of a helm and a water spray propeller, thereby realizing the heading control for the pump-paddle hybrid propelled ship. By utilizing the robust control technology, the robustness of the control system is enhanced, the convenient engineering application is realized, the early-maturing problem and the slow evolution problem of the basic genetic algorithm are solved, and the energy consumption of driving system is reduced.

Sheng Liu

Papers

Ship course variable universe fuzzy and least square support vector machine compound control method

Servocontrol method for single channel electrohydraulic position of underwater vehicle omnibearing thruster

TMS320C6713-based fuzzy proportion integration differentiation (PID) fusion controller and control method for course of ship

Heading robust intelligent coordination control method for pump-paddle hybrid propelled ship