Wave compensator design based on adaptive FFT prediction algorithm and H filtering

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Wave compensator design based on adaptive FFT prediction algorithm and H filtering
	Luo HT(骆海涛); He YQ(何玉庆); Meng XD(孟祥冬); Li Q(李琦); Zhang MX(张洺溪)
	2018
会议日期	August 5-8, 2018
会议地点	Changchun, China
关键词	Adaptive FFT wave prediction H∞ filtering wave compensation
页码	45-50
英文摘要	As the performance of the unmanned aerial vehicle (UAV) has been greatly improved with the rapid development of science and technology, the UAVs have been widely used for a broad range of applications. In recent years, the shipborne UAV has received considerable attention due to its low cost, small size, and high cost-effectiveness ratio. A key difficulty for the shipborne UAV is that due to the effect of the waves, the vertical sway, horizontal sway, and heave motions of the ships brought great challenges to the safe take-off and landing of the shipborne UAVs. To circumvent this drawback, this study proposed a wave compensation system based on the adaptive fast Fourier transform (FFT) prediction algorithm and H filtering. On the one hand, in order to reduce the time delay errors caused by sensors, controllers, and other devices, the FFT was adopted to construct an adaptive wave prediction algorithm. With the help of this algorithm, the heave motion model of the waves is forecasted to compensate the waves as synchronously as possible. On the other hand, in order to improve the robustness of the system and reduce external disturbances, the H filter was used to eliminate the high-frequency wave interference and make the compensation platform move more smoothly. Using the control and computation simulation software Matlab and the visual scene simulation software Vortex, based on the adaptive FFT prediction algorithm and H filtering, the co-simulation platform was constructed for the take-off and landing structural platform, the three-degree-of-freedom wave simulation, and the six-degrees-of-freedom wave compensation. The examples presented demonstrated that the proposed wave compensation system has feasibility in the take-off and landing of the shipborne UAVs. The examples also verified that the adaptive FFT prediction algorithm could forecast the waves effectively, and H filter has a good filtering effect in the wave compensation.
产权排序	1
会议录	Proceedings of 2018 IEEE International Conference on Mechatronics and Automation, ICMA 2018
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5386-6072-0
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/23588]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Li Q(李琦)
作者单位	State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110200, China
推荐引用方式 GB/T 7714	Luo HT,He YQ,Meng XD,et al. Wave compensator design based on adaptive FFT prediction algorithm and H filtering[C]. 见:. Changchun, China. August 5-8, 2018.