Patrol path tracking control system and method of differential drive unmanned ship based on sliding mode control

The invention discloses a patrol path tracking control system and method for a differential drive unmanned ship based on sliding mode control. The system comprises an unmanned ship model and a sliding mode controller. The unmanned ship model comprises a kinematics model, a dynamics model and a prope...

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Hauptverfasser:	TENG FEI, YE PEIYUN, LIN KUAN-TING, LIU HAORAN
Format:	Patent
Sprache:	chi ; eng
Schlagworte:	CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PHYSICS REGULATING
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creator	TENG FEI YE PEIYUN LIN KUAN-TING LIU HAORAN
description	The invention discloses a patrol path tracking control system and method for a differential drive unmanned ship based on sliding mode control. The system comprises an unmanned ship model and a sliding mode controller. The unmanned ship model comprises a kinematics model, a dynamics model and a propeller motor model; the sliding mode controller comprises a torque controller based on sliding mode control and a motor controller based on sliding mode control; converting the position information provided by the kinematic model into a course angle through a sight guidance method, and outputting the course angle to a torque controller based on sliding mode control, so as to obtain a control torque; and inputting the control torque and the motor rotating speed into a motor controller based on sliding mode control to obtain a pulse width modulation duty ratio of a propeller motor, and controlling the motor rotating speed of the propeller motor based on the pulse width modulation duty ratio. According to the invention,
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The system comprises an unmanned ship model and a sliding mode controller. The unmanned ship model comprises a kinematics model, a dynamics model and a propeller motor model; the sliding mode controller comprises a torque controller based on sliding mode control and a motor controller based on sliding mode control; converting the position information provided by the kinematic model into a course angle through a sight guidance method, and outputting the course angle to a torque controller based on sliding mode control, so as to obtain a control torque; and inputting the control torque and the motor rotating speed into a motor controller based on sliding mode control to obtain a pulse width modulation duty ratio of a propeller motor, and controlling the motor rotating speed of the propeller motor based on the pulse width modulation duty ratio. 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The system comprises an unmanned ship model and a sliding mode controller. The unmanned ship model comprises a kinematics model, a dynamics model and a propeller motor model; the sliding mode controller comprises a torque controller based on sliding mode control and a motor controller based on sliding mode control; converting the position information provided by the kinematic model into a course angle through a sight guidance method, and outputting the course angle to a torque controller based on sliding mode control, so as to obtain a control torque; and inputting the control torque and the motor rotating speed into a motor controller based on sliding mode control to obtain a pulse width modulation duty ratio of a propeller motor, and controlling the motor rotating speed of the propeller motor based on the pulse width modulation duty ratio. According to the invention,</description><subject>CONTROL OR REGULATING SYSTEMS IN GENERAL</subject><subject>CONTROLLING</subject><subject>FUNCTIONAL ELEMENTS OF SUCH SYSTEMS</subject><subject>MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS</subject><subject>PHYSICS</subject><subject>REGULATING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2024</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNqNjLsKAjEQRbexEPUfxg8QzFqopSyKlVjYL-POxA0mk5CMgn_vA-2tzuVwOcMqHVFz9JBQe9CM3dXJBbooH1seRTkACkFg7SNBtEDOWs4s6tADZXdnuElAESYovUtwxvKaUaB4R-9ciMS_5rgaWPSFJ1-Oqulue2r2M06x5ZKwY2Ftm4MxK7Ou6-V8s_jn8wRupENz</recordid><startdate>20240614</startdate><enddate>20240614</enddate><creator>TENG FEI</creator><creator>YE PEIYUN</creator><creator>LIN KUAN-TING</creator><creator>LIU HAORAN</creator><scope>EVB</scope></search><sort><creationdate>20240614</creationdate><title>Patrol path tracking control system and method of differential drive unmanned ship based on sliding mode control</title><author>TENG FEI ; YE PEIYUN ; LIN KUAN-TING ; LIU HAORAN</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_CN118192270A3</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>chi ; eng</language><creationdate>2024</creationdate><topic>CONTROL OR REGULATING SYSTEMS IN GENERAL</topic><topic>CONTROLLING</topic><topic>FUNCTIONAL ELEMENTS OF SUCH SYSTEMS</topic><topic>MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS</topic><topic>PHYSICS</topic><topic>REGULATING</topic><toplevel>online_resources</toplevel><creatorcontrib>TENG FEI</creatorcontrib><creatorcontrib>YE PEIYUN</creatorcontrib><creatorcontrib>LIN KUAN-TING</creatorcontrib><creatorcontrib>LIU HAORAN</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>TENG FEI</au><au>YE PEIYUN</au><au>LIN KUAN-TING</au><au>LIU HAORAN</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Patrol path tracking control system and method of differential drive unmanned ship based on sliding mode control</title><date>2024-06-14</date><risdate>2024</risdate><abstract>The invention discloses a patrol path tracking control system and method for a differential drive unmanned ship based on sliding mode control. The system comprises an unmanned ship model and a sliding mode controller. The unmanned ship model comprises a kinematics model, a dynamics model and a propeller motor model; the sliding mode controller comprises a torque controller based on sliding mode control and a motor controller based on sliding mode control; converting the position information provided by the kinematic model into a course angle through a sight guidance method, and outputting the course angle to a torque controller based on sliding mode control, so as to obtain a control torque; and inputting the control torque and the motor rotating speed into a motor controller based on sliding mode control to obtain a pulse width modulation duty ratio of a propeller motor, and controlling the motor rotating speed of the propeller motor based on the pulse width modulation duty ratio. According to the invention,</abstract><oa>free_for_read</oa></addata></record>
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subjects	CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PHYSICS REGULATING
title	Patrol path tracking control system and method of differential drive unmanned ship based on sliding mode control
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