The invention discloses an improved MFAC control method based on an unmanned ship with double water-jet propellers, and the method comprises the steps: calculating a deviation e (k) according to an expected state and the current state of the unmanned ship, and calculating a pseudo partial derivative phi (k) through the deviation and the state information of the unmanned ship; on the basis of an original model-free adaptive control algorithm, a pseudo partial derivative phi (k) is calculated; self-adaptive iterative solution of the control quantity u (k) is carried out; and then receiving a control instruction through an unmanned ship actuator, and continuously updating the state of the unmanned ship system until the expected state is reached. According to the method, through an integration link, adaptive attenuation parameters and tanh function nonlinear processing, the problems of slow response, convergence oscillation, steady-state errors and the like of a dual-water-jet-propeller unmanned ship system are solved, so that the unmanned ship can be stably converged to an expected state.
本发明公开了一种基于双喷水推进器无人艇的改进MFAC控制方法,包括:根据期望状态和无人艇当前状态,计算偏差e(k),通过偏差和无人艇状态信息计算伪偏导数φ(k);在原无模型自适应控制算法基础上,计算出伪偏导数φ(k);进行控制量u(k)的自适应迭代解算;然后通过无人艇执行器接收到控制指令,不断更新无人艇系统状态直至达到期望状态。本发明通过积分环节、自适应衰减参数以及tanh函数非线性化处理,解决了双喷水推进器无人艇系统响应慢、收敛震荡以及稳态误差等问题,从而使得无人艇能够稳定的收敛到期望状态。
Improved MFAC control method based on unmanned ship with double water-jet propellers
一种基于双喷水推进器无人艇的改进MFAC控制方法
2022-11-01
Patent
Electronic Resource
Chinese
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