CN105373125A - Yacht track autopilot on the basis of active-disturbance-rejection control algorithm - Google Patents
Yacht track autopilot on the basis of active-disturbance-rejection control algorithm Download PDFInfo
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- CN105373125A CN105373125A CN201510858694.7A CN201510858694A CN105373125A CN 105373125 A CN105373125 A CN 105373125A CN 201510858694 A CN201510858694 A CN 201510858694A CN 105373125 A CN105373125 A CN 105373125A
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- yacht
- microcontroller
- autopilot
- track
- control algorithm
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- 238000000034 method Methods 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 239000000470 constituent Substances 0.000 abstract 1
- 230000001141 propulsive effect Effects 0.000 abstract 1
- 230000000007 visual effect Effects 0.000 abstract 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A yacht track autopilot is realized on the basis of an active-disturbance-rejection control algorithm. The yacht track autopilot provided by the invention comprises a human-machine operation interface, a signal input interface, a microcontroller, a propulsive force distributor and an audible and visual alarm. Through the yacht track autopilot provided by the invention, three operation modes of a yacht, such as automatic route, automatic course and manual operation, may be realized. The microcontroller is the core of the yacht track autopilot, and other constituent parts are connected with the microcontroller. The yacht track autopilot on the basis of an active-disturbance-rejection control algorithm has high reliability, easy operation and usage and high antijamming capability, and is able to greatly mitigate drivers' labor intensity and realize the automatic navigation of a yacht along a setting track.
Description
Technical field
The present invention relates to a kind of yacht flight path auto steerer based on Active Disturbance Rejection Control algorithm, belong to navigating equipment field.
Background technology
In recent years, along with the rise gradually of yacht industry, speedboat receives increasing concern, is widely used in rescue and patrol.At present a lot of speedboat is all the mode using pilot steering, in order to ensure not drift off the course in navigation process, needing human pilot uninterruptedly to carry out steering and navigational calibration, not only increasing labour intensity, and easily form " snakelike " navigation, reduce rescue speed and cause the waste of fuel oil.And increasing speedboat adopts propulsion system in twin screw string, and currently marketed auto navigator is mostly based on " slurry-rudder " structure, cannot directly apply to the fast yacht of twin screw.Based on this background, we devise this yacht flight path autopilot.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, provide based on Active Disturbance Rejection Control algorithm the yacht flight path autopilot that a kind of antijamming capability is strong, reliability is high, easy to use.
Yacht flight path autopilot based on Active Disturbance Rejection Control algorithm comprises man-machine operation interface, signal input interface, microcontroller, propelling power divider and audible-visual annunciator composition, can realize the automatic course line of yacht, automatically course and manual operation three kinds of methods of operation.Microcontroller is the core of yacht flight path autopilot, and other ingredients are connected with microcontroller all respectively.
Described interpersonal operation-interface is mounted in the operating means on bridge, is connected with microcontroller by signal input interface, realizes working method and arranges and set course line or course; Described can, according to the given steering moment of microcontroller, to be realized producing the steering moment of specifying when screw propeller gross thrust is constant by propelling power divider; Described signal input interface is for gathering the information such as the current position of yacht, current course; Described alarm can send sound and light signal when systems axiol-ogy is abnormal to working condition, notes to remind human pilot.
The yacht flight path autopilot reliability that the present invention realizes is high, easy for operation, and antijamming capability is strong, significantly reduces the labour intensity of human pilot, achieves automatically navigating by water by setting flight path of yacht.
Accompanying drawing explanation
Fig. 1 is the composition structural principle schematic block diagram of the yacht flight path autopilot of the present embodiment.
In figure: 1, man-machine operation interface; 2, course load module; 3, GPS locating module; 4, signal input interface; 5, microcontroller; 6, audible-visual annunciator; 7, propelling power divider; 8, screw propeller.
Embodiment
The designed yacht flight path autopilot based on Active Disturbance Rejection Control algorithm has three kinds of working methods, that is: flight path mode, automatically course mode and full manual mode automatically.Below with reference to the accompanying drawings, the specific embodiment of the present invention is described in detail.
As shown in Figure 1, microcontroller 5 is core components of yacht flight path autopilot, reads yacht status information from signal input interface 4, runs Active Disturbance Rejection Control algorithm routine, and exports operation result.Man-machine operation interface 1 can the working method of initialization system set course and navigation route, the yacht flight path autopilot that course load module 2 is the embodiment of the present invention provides course angle information in navigation, GPS locating module 3 provides the physical location of yacht, signal input interface 4 is by man-machine operation interface 1, the signal that course load module 2 and GPS locating module 3 provide changes the signal that microcontroller 5 can directly use into, audible-visual annunciator 6 is when automated driving system breaks down, aural signal can be sent, prompting human pilot is noted, under propelling power divider 7 can be implemented in the condition keeping gross thrust constant, by regulating the rotating speed of two screw propellers, produce the steering moment that microcontroller 5 is given.
When being operated in automatic flight path mode, the flight path set according to man-machine operation interface 1 and the yacht physical location received by signal input interface 4 are compared by microcontroller 5, then calculate to vectoring according to the path following algorithm of inside, for controlling the direction of yacht navigation, and then realize automatic flight tracking control.
When being operated in automatic course mode, the course set according to man-machine operation interface 1 and the yacht actual heading received by signal input interface 4 are compared by microcontroller 5, then a series of mathematical operation and logical operation is done according to Active Disturbance Rejection Control algorithm, calculate steering moment, for changing the direction of yacht navigation, and then realize automatic Heading control.
Automatic flight path mode is the course constantly adjusting yacht according to the critical path point on design setting flight path, needs to call the Auto-disturbance-rejection Control in the mode of automatic course in navigation process.And the steering moment that in the mode of automatic course, microcontroller 5 calculates acts on screw propeller through propelling power divider 7.When being operated in full manual mode, microcontroller 5 will control the course of yacht and the speed of a ship or plane according to external operation device direct control two revolution speed of propeller.
Claims (2)
1. based on the yacht flight path autopilot of Active Disturbance Rejection Control algorithm, it is characterized in that: be made up of man-machine operation interface, signal input interface, microcontroller, propelling power divider and audible-visual annunciator, described interpersonal operation-interface is mounted in the operating means on bridge, be connected with microcontroller by signal input interface, realize working method and arrange and set course line or course; Described can, according to the given steering moment of microcontroller, to be realized producing the steering moment of specifying when screw propeller gross thrust is constant by propelling power divider.
2. based on microcontroller according to claim 1, it is characterized in that: the crucial control algolithm that described microcontroller operation yacht navigates by water automatically and signal transacting, its Heading control algorithm is Active Disturbance Rejection Control algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510858694.7A CN105373125A (en) | 2015-12-01 | 2015-12-01 | Yacht track autopilot on the basis of active-disturbance-rejection control algorithm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510858694.7A CN105373125A (en) | 2015-12-01 | 2015-12-01 | Yacht track autopilot on the basis of active-disturbance-rejection control algorithm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105373125A true CN105373125A (en) | 2016-03-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510858694.7A Pending CN105373125A (en) | 2015-12-01 | 2015-12-01 | Yacht track autopilot on the basis of active-disturbance-rejection control algorithm |
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| CN (1) | CN105373125A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774341A (en) * | 2017-01-20 | 2017-05-31 | 四方继保（武汉）软件有限公司 | Unmanned boat kinetic control system and motion control method |
| CN107315891A (en) * | 2017-07-17 | 2017-11-03 | 电子科技大学 | Airborne communication interference course line modeling and jamming Efficiency Evaluation method based on radiation source |
| CN108710754A (en) * | 2018-05-18 | 2018-10-26 | 中国矿业大学 | A kind of optimal Auto-disturbance-rejection Control of jumbolter propulsive force |
| CN112558481A (en) * | 2020-12-17 | 2021-03-26 | 广东工业大学 | Course angle active disturbance rejection control method in ship control system and related device |
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| CN101342937A (en) * | 2008-03-14 | 2009-01-14 | 上海海事大学 | Propulsion system and navigation control method for ship |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774341A (en) * | 2017-01-20 | 2017-05-31 | 四方继保（武汉）软件有限公司 | Unmanned boat kinetic control system and motion control method |
| CN107315891A (en) * | 2017-07-17 | 2017-11-03 | 电子科技大学 | Airborne communication interference course line modeling and jamming Efficiency Evaluation method based on radiation source |
| CN107315891B (en) * | 2017-07-17 | 2019-09-13 | 电子科技大学 | Airborne communication interference course line modeling and jamming Efficiency Evaluation method based on radiation source |
| CN108710754A (en) * | 2018-05-18 | 2018-10-26 | 中国矿业大学 | A kind of optimal Auto-disturbance-rejection Control of jumbolter propulsive force |
| CN108710754B (en) * | 2018-05-18 | 2022-03-15 | 中国矿业大学 | Optimal active disturbance rejection control method for propelling force of jumbolter |
| CN112558481A (en) * | 2020-12-17 | 2021-03-26 | 广东工业大学 | Course angle active disturbance rejection control method in ship control system and related device |
| CN112558481B (en) * | 2020-12-17 | 2023-02-10 | 广东工业大学 | Course angle active disturbance rejection control method in ship control system and related device |
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Application publication date: 20160302 |