CN115390434A - Intelligent control method of sails of composite aircraft in downwind environment - Google Patents
Intelligent control method of sails of composite aircraft in downwind environment Download PDFInfo
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- 239000002131 composite material Substances 0.000 title claims abstract description 47
- 238000013528 artificial neural network Methods 0.000 claims abstract description 94
- 238000004260 weight control Methods 0.000 claims abstract description 31
- 238000011217 control strategy Methods 0.000 claims abstract description 24
- 238000013473 artificial intelligence Methods 0.000 claims abstract description 7
- 238000012545 processing Methods 0.000 claims abstract description 7
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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Abstract
The invention mainly comprises an artificial intelligence control method of a composite aircraft in a downwind environment, and a core control strategy of the artificial intelligence control method is a control method based on the combination of a neural network and PID control, wherein the neural network relates to a neural network BP unilateral weight control and PID control unit. In the intelligent control method of the sail of the composite aircraft in the downwind environment, a neural network controller, a neural network identifier, a PID controller and the like are designed in a neural network BP unilateral weight control and PID control unit. The intelligent controller comprises a neural network controller, a neural network identifier, a PID controller and a neural network controller, wherein the neural network controller is arranged in the center of the intelligent controller, the neural network identifier is arranged at two ends of the intelligent controller, and the PID controller is arranged at the rear end of the intelligent controller. The method has the main advantages that the robustness under the conditions of processing complex nonlinear events and unknown environments is obviously improved, and compared with other traditional control methods, the method can improve the operation capacity of the composite aircraft.
Description
Technical Field
The invention belongs to the technical field of control of composite aircraft, and particularly relates to an intelligent control method of a sail of a composite aircraft in a downwind environment.
Background
There are many effective methods for improving the driving capability of the composite aircraft, but the method is not ideal for the current practical application effect, and mainly shows that the power source of the composite aircraft mainly depends on the wind sail of the composite aircraft body, and the composite aircraft is driven by the wind sail to obtain larger kinetic energy. The type of sails is mainly applied to composite aircraft at present, and is also based on the technology of traditional sails, which mainly involves single transverse sails and longitudinal sails, and the wind energy obtained by the traditional sails is limited from the technical principle aspect, but in order to improve the power of unmanned sailing ships, technical methods are continuously required to be improved. Therefore, the technical research and development team integrates various technical achievements according to the technical accumulation for years, and the intelligent control method of the sails of the composite aircraft in the downwind environment is invented.
Disclosure of Invention
To solve the problems set forth in the background art described above. The invention provides an intelligent control method of a sail of a composite aircraft in a downwind environment, which has the characteristic of convenient use.
In order to achieve the purpose, the invention provides the following technical scheme: an intelligent control method of sails of a composite aircraft in a downwind environment mainly relates to a control method in the aspect of artificial intelligence in an intelligent control system, and a core control strategy of the intelligent control method is a control method based on combination of a neural network and PID control. The neural network comprises a neural network BP unilateral weight control unit and a PID control unit.
In the intelligent control method of the sails of the composite aircraft in the downwind environment, a neural network controller, a neural network identifier, a PID controller and the like are designed in a neural network BP unilateral weight control and PID control unit.
The neural network controller is arranged in the center of the intelligent controller; the neural network identifiers are arranged at two ends of the intelligent controller; and the PID controller is arranged at the rear end of the intelligent controller.
The neural network identifier unit is used for sensing and identifying information data, and after the information data is processed, processed result information is transmitted to the neural network controller unit.
The neural network controller unit is used for carrying out complex and nonlinear comprehensive processing on the information data, and after the information data is processed, the processed result information is transmitted to the PID control unit.
And the PID control unit is used for receiving the output information of the neural network controller and controlling the related execution unit of the composite aircraft.
Preferably, in the intelligent control method of the sails of the composite aircraft in the downwind environment, the neural network BP unilateral weight control and PID control strategies are set to be self-checking and normal detection of equipment, set to execute the next unit operation, and set to be abnormal detection and alarm.
Preferably, in the intelligent control method of the sails of the composite aircraft in the downwind environment, a neural network BP unilateral weight control strategy and a PID control strategy are set as initialization system parameters.
Preferably, in the intelligent control method of the sails of the composite aircraft in the downwind environment, a neural network BP unilateral weight control and PID control strategy is set to identify wind direction information data, wind speed information data, heading information data, body posture information data and the like.
Preferably, in the intelligent control method of the sails of the composite aircraft in the downwind environment, the neural network BP unilateral weight control and PID control strategy is set to be operated in forward, backward, left-turn, right-turn and other motions.
Compared with the prior art, the invention has the beneficial effects that: the invention discloses an intelligent control method of sails of a composite aircraft in a downwind environment, which mainly comprises a control method in the aspect of artificial intelligence in an intelligent control system. In the intelligent control method of the sail of the composite aircraft in the downwind environment, a neural network controller, a neural network identifier, a PID controller and the like are designed in a neural network BP unilateral weight control and PID control unit. The neural network controller is arranged in the center of the intelligent controller; the neural network identifier is arranged at two ends of the intelligent controller; and the PID controller is arranged at the rear end of the intelligent controller. The neural network recognizer unit is used for sensing and recognizing the information data, and after the information data is processed, the processed result information is transmitted to the neural network controller unit. The neural network controller unit is used for carrying out complex and nonlinear comprehensive processing on the information data, and after the information data is processed, the processed result information is transmitted to the PID control unit. And the PID control unit is used for receiving the output information of the neural network controller and controlling the related execution unit of the composite aircraft. In the intelligent control method of the sails of the composite aircraft in the downwind environment, a neural network BP unilateral weight control strategy and a PID control strategy are set to be self-checking and normal, set to execute the next unit operation, and set to be abnormal and alarm. In the intelligent control method of sails of a composite aircraft in a downwind environment, a neural network BP unilateral weight control and PID control strategy is set to initialize system parameters. In the intelligent control method of the sails of the composite aircraft in the downwind environment, a neural network BP unilateral weight control and PID control strategy is set to identify wind direction information data, wind speed information data, course information data, body posture information data and the like. In the intelligent control method of sails of the composite aircraft in a downwind environment, a neural network BP unilateral weight control and PID control strategy is set to be operated by moving forward, backward, left-turning, right-turning and the like.
The method has the main advantages that the robustness under the conditions of processing complex nonlinear events and unknown environments is obviously improved, and compared with other traditional control methods, the method effectively improves the operation capacity of the composite aircraft.
Drawings
FIG. 1 is a general flow chart of the present invention;
FIG. 2 is an intelligent control diagram of the present invention;
in the figure:
1. a total flow chart; s1.1, initializing parameters; s1.2, self-checking equipment; s1.3, a BP neural network identifier; s1.4, a neural network controller; s1.5, a PID controller; s1.6, actuator (go, stop, left turn, right turn).
2. A neural network and PID control chart; s2.1, BP neural network identifier (preposition); s2.2, a neural network controller; s2.3, a PID controller; s2.4, BP neural network identifier (postposition); s2.5, actuator (go, stop, left turn, right turn).
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the present invention provides the following technical embodiments: an intelligent control method of sails of a composite aircraft in a downwind environment mainly relates to a control method of artificial intelligence in an intelligent control system, and a core control strategy of the intelligent control system is a control method based on combination of a neural network and PID control. The neural network comprises neural network BP unilateral weight control S2.1, S2.2s and S2.4 and a PID control unit S2.3.
In the embodiment, in the intelligent control method of the sail of the composite aircraft in the downwind environment, the neural network controller s2.2, the neural network identifiers s 2.1-s 2.2, the PID controller s2 and the like are designed in the neural network BP unilateral weight control and PID control unit.
In this embodiment, the neural network controller s2.2 is arranged in the center of the intelligent controller; the neural network identifier s2.1 is arranged at two ends of the intelligent controller; and the PID controller s2.4 is arranged at the back end of the intelligent controller.
In this embodiment, the neural network identifier units s2.1 and s2.3 are used to sense and identify information data, and transmit processed result information to the neural network controller unit after the information data is processed.
In this embodiment, the neural network controller unit s2.2 is used to perform complex and nonlinear comprehensive processing of the information data, and after the information data is processed, the processed result information is transmitted to the PID control unit.
In this embodiment, preferably, in the intelligent control method of the sails of the composite aircraft in the downwind environment, the neural network BP unilateral weight control and PID control strategy are set to initialize the system parameter s1.1.
In this embodiment, preferably, in the intelligent control method for the sails of the composite aircraft in the downwind environment, the neural network BP unilateral weight control and PID control strategy is set as device self-check s1.2, the detection is normal, the next unit operation is executed, the detection is abnormal, and the alarm is set.
In this embodiment, preferably, in the intelligent control method of the sails of the composite aircraft in the downwind environment, the neural network BP unilateral weight control and PID control strategy is set as that the neural network identifies s1.3: wind direction information data, wind speed information data, course information data, body posture information data and the like.
In this embodiment, preferably, in the intelligent control method for the sails of the composite aircraft in the downwind environment, the neural network BP unilateral weight control and PID control strategy is set to be operated by forward, backward, left-turn, right-turn, and other motions.
The working principle and the using process of the invention are as follows: the invention discloses an intelligent control method of sails of a composite aircraft in a downwind environment, mainly relates to a control method in the aspect of artificial intelligence in an intelligent control system, and a core control strategy of the intelligent control method is a control method based on the combination of a neural network and PID control. The neural network comprises neural network BP unilateral weight control S2.1, S2.2s, S2.4 and a PID control unit S2.3. In the intelligent control method of the sail of the composite aircraft in the downwind environment, a neural network controller s2.2, neural network identifiers s 2.1-s 2.2, a PID controller s2 and the like are designed in a neural network BP unilateral weight control and PID control unit. The neural network controller s2.2 is arranged in the center of the intelligent controller; the neural network identifier s2.1 is arranged at two ends of the intelligent controller; and the PID controller s2.4 is arranged at the back end of the intelligent controller. The neural network recognizer units s2.1 and s2.3 are used for sensing and recognizing the information data, and after the information data are processed, the processed result information is transmitted to the neural network controller unit. The neural network controller unit s2.2 is used for carrying out complex and nonlinear comprehensive processing on the information data, and after the information data is processed, the processed result information is transmitted to the PID control unit. In the intelligent control method of sails of a composite aircraft in a downwind environment, a neural network BP unilateral weight control and PID control strategy is set to initialize a system parameter s1.1. In the intelligent control method of the sail of the composite aircraft in the downwind environment, a neural network BP unilateral weight control and PID control strategy is set to be a device self-checking s1.2, the detection is normal, the device is set to execute the next unit operation, the detection is abnormal, and the device is set to alarm. In the intelligent control method of sails of a composite aircraft in a downwind environment, a neural network BP unilateral weight control and PID control strategy is set as that a neural network identifies s1.3: wind direction information data, wind speed information data, course information data, body posture information data and the like. In the intelligent control method of sails of a composite aircraft in a downwind environment, a neural network BP unilateral weight control strategy and a PID control strategy are set to be in motion operation such as forward movement, backward movement, left turning, right turning and the like.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. According to claim 1, an intelligent control method of sails of a composite aircraft in a downwind environment mainly relates to a control method in the aspect of artificial intelligence in an intelligent control system, and a core control strategy of the control method is a control method based on a combination of a neural network and PID control. The neural network comprises neural network BP unilateral weight control S2.1, S2.2s and S2.4 and a PID control unit S2.3.
In the intelligent control method of the sail of the composite aircraft in the downwind environment, a neural network controller s2.2, neural network identifiers s 2.1-s 2.2, a PID controller s2 and the like are designed in a neural network BP unilateral weight control and PID control unit.
The neural network controller s2.2 is arranged at the center of the intelligent controller; the neural network identifier s2.1 is arranged at two ends of the intelligent controller; and a PID controller s2.4 arranged at the back end of the intelligent controller.
The neural network identifier units s2.1 and s2.3 are used for sensing and identifying information data, and after the information data are processed, the processed result information is transmitted to the neural network controller unit.
The neural network controller unit s2.2 is used for performing complex and nonlinear comprehensive processing on the information data, and after the information data is processed, the processed result information is transmitted to the PID control unit.
2. According to claim 1, the neural network BP unilateral weight control and PID control strategy in the intelligent control method of sails of a composite aircraft in a downwind environment is characterized by being set to initialize a system parameter s1.1.
3. According to claim 1, the neural network BP unilateral weight control and PID control strategy in the intelligent control method of sails of a composite aircraft in a downwind environment is characterized in that the strategy is set to be a device self-test s1.2, detect normal, set to execute the next unit operation, detect abnormal and set to alarm.
4. According to claim 1, in the intelligent control method of sails of a composite aircraft in a downwind environment, the strategy of neural network BP unilateral weight control and PID control is characterized in that the neural network identification s1.3: wind direction information data, wind speed information data, course information data, body posture information data and the like.
5. According to claim 1, the neural network BP unilateral weight control and PID control strategy in the intelligent control method of sails of the composite aircraft in the downwind environment is characterized by being set to move forward, backward, left turn, right turn and the like.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101968629A (en) * | 2010-10-19 | 2011-02-09 | 天津理工大学 | PID (Proportional Integral Derivative) control method for elastic integral BP neural network based on RBF (Radial Basis Function) identification |
| CN207015572U (en) * | 2017-06-15 | 2018-02-16 | 清华大学深圳研究生院 | A kind of sail power autonomous underwater vehicle |
| CN109814383A (en) * | 2019-01-21 | 2019-05-28 | 中国民航大学 | Steering engine electrohydraulic load simulator intelligent control method based on neural network identification |
| CN110509277A (en) * | 2019-09-03 | 2019-11-29 | 哈尔滨工业大学 | A kind of robot movement-control system and robot |
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- 2022-07-15 CN CN202210835013.5A patent/CN115390434A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101968629A (en) * | 2010-10-19 | 2011-02-09 | 天津理工大学 | PID (Proportional Integral Derivative) control method for elastic integral BP neural network based on RBF (Radial Basis Function) identification |
| CN207015572U (en) * | 2017-06-15 | 2018-02-16 | 清华大学深圳研究生院 | A kind of sail power autonomous underwater vehicle |
| CN109814383A (en) * | 2019-01-21 | 2019-05-28 | 中国民航大学 | Steering engine electrohydraulic load simulator intelligent control method based on neural network identification |
| CN110509277A (en) * | 2019-09-03 | 2019-11-29 | 哈尔滨工业大学 | A kind of robot movement-control system and robot |
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