The invention discloses a variable-structure unmanned ship control method based on a fuzzy controller, and the method comprises the following steps: obtaining a variable-structure instruction, enabling a variable structure to change structurally, generating a variable-structure disturbance signal and a variable-structure state signal, and transmitting the variable-structure state signal to a first fuzzy controller; the initial movement speed V and the initial angular speed W of the ship body are obtained through a sensor, and torque transfer parameters and resistance transfer parameters are obtained through calculation of the speed of the ship body; collecting the movement speed Vt and the angular speed Wt of the ship body at the time t, and generating a feedback signal; according to the variable-structure unmanned ship control method based on the fuzzy controller, transfer parameters of damping changes of the unmanned ship can be described according to the speed and structure changes of the unmanned ship, the moment transfer parameters and the resistance transfer parameters are used as input quantities of the fuzzy controller, the ship body is controlled, and the stability of the unmanned ship is improved. And a parallel fuzzy controller is used for controlling the unmanned ship, so that a more accurate control effect is achieved.

    本发明公开了一种基于模糊控制器的变结构无人艇控制方法,包括下述步骤:获取变结构指令,可变结构发生结构改变并产生变结构扰动信号和可变结构状态信号,将可变结构状态信号发送至第一模糊控制器;通过传感器获取船体的初始运动速度V和初始角速度W,通过船体的速度计算获得力矩转移参数和阻力转移参数;采集时间t的船体的运动速度Vt和角速度Wt并生成反馈信号;本发明旨在提供一种基于模糊控制器的变结构无人艇控制方法,能够根据无人艇速度和结构变化描述无人艇阻尼变化的转移参数,利用力矩转移参数和阻力转移参数转移参数作为模糊控制器的输入量,对船体进行控制,使用并联模糊控制器对无人艇进行控制,实现更加精准的控制效果。


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    Titel :

    Variable structure unmanned ship control method based on fuzzy controller


    Weitere Titelangaben:

    一种基于模糊控制器的变结构无人艇控制方法


    Beteiligte:
    RAO HONGXIA (Autor:in) / FAN YUECHUAN (Autor:in) / LIU CHANG (Autor:in) / TAO JIE (Autor:in) / YANG LIXIN (Autor:in) / XU YONG (Autor:in)

    Erscheinungsdatum :

    2023-12-15


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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