CN112255917B - Positioning and driving control method and device, system, electronic device and storage medium - Google Patents

Abstract

The disclosure relates to a positioning driving control method, a positioning driving control device, a positioning driving control system, electronic equipment and a storage medium, and relates to the field of control. The positioning driving control method comprises the following steps: determining the gain corresponding to the controller according to the decoding vector corresponding to the azimuth information of the controlled object when the measurement output of the sensor is abnormal; obtaining a decoding vector corresponding to the azimuth information at the second moment according to the controller and the decoding vector corresponding to the azimuth information at the first moment; and determining the running of the controlled object based on the decoding vector corresponding to the azimuth information at the second moment. The embodiment of the disclosure can realize the running of the controlled object when the measurement output of the sensor is abnormal.

Description

Positioning and driving control method and device, system, electronic device and storage medium

technical field

The present disclosure relates to the field of control technology, and in particular, to a positioning and driving control method and device, a system, an electronic device and a storage medium.

Background technique

In recent years, as a pillar industry of national production, the petroleum industry has been receiving extensive attention from all walks of life. The exploration and development of offshore oil has a history of more than 100 years. Offshore drilling platforms, as the necessary equipment for offshore oil exploration, have been developing simultaneously with the exploration and development of offshore oil from the very beginning. Mobile drilling platforms (ships) do not operate in fixed sea areas, and should be adapted to operations in displacement, different sea areas, different water depths and different orientations. Therefore, the design of its dynamic positioning system has always been a key technical problem.

However, the current control method for the power system of the drilling platform cannot solve the situation when the sensor has abnormal value. Since the sensor works in a harsh environment for a long time, it is prone to failure and aging, so the obtained output value is likely to be an abnormal value. , which deviates from the normal value to a large extent, which affects the remote judgment, gives wrong control signals, and cannot complete the effective control of the position of the drilling platform. In addition, because the data of the offshore drilling platform is usually transmitted to the remote end through the network, the security of its data transmission has become the focus of system security personnel.

SUMMARY OF THE INVENTION

The present disclosure proposes a positioning driving control method, device, system, electronic device and storage medium technical scheme, so as to realize the driving of the controlled object when the measurement output of the sensor is abnormal.

According to an aspect of the present disclosure, there is provided a positioning driving control method, comprising:

Determine the gain corresponding to the controller according to the decoding vector corresponding to the orientation information of the controlled object when the sensor's measurement output is abnormal;

According to the controller and the decoding vector corresponding to the orientation information at the first moment, the decoding vector corresponding to the orientation information at the second moment is obtained;

Based on the decoding vector corresponding to the orientation information at the second moment, the driving of the controlled object is determined.

Preferably, the method for determining the gain corresponding to the controller according to the decoding vector corresponding to the orientation information of the controlled object when the measurement output of the sensor is abnormal, includes:

Obtain the mathematical model corresponding to the angle and position of the controlled object and the measurement output abnormal vector of the sensor in the mathematical model;

Determine a state observer from the mathematical model and the measured output anomaly vector, and determine an intermediate state vector from a decoder;

Determine a coding vector according to the estimated vector of the state observer and the intermediate state vector; and, decode the coding vector to obtain a decoded vector;

Determine the controller of the controlled object according to the decoding vector and the state observation model of the mathematical model, and obtain the gain of the controller;

And/or, the orientation information includes at least position and/or speed;

And/or, the accused object is an offshore drilling platform.

Preferably, the method for determining a state observer according to the mathematical model and the measurement output anomaly vector includes:

obtaining the measurement output abnormality vector, and determining a saturation function according to the measurement output abnormality vector;

determining the state observer according to the saturation function and the state observation model of the mathematical model;

and/or,

The method for determining an intermediate state vector according to the decoder, comprising: obtaining the intermediate state vector at this moment according to the state observation model of the mathematical model and the decoding vector at the last decoding moment of the decoder;

And/or, the method for determining a coding vector according to the estimated vector of the state observer and the intermediate state vector, comprising:

A coding vector is determined according to the difference between the estimated vector and the intermediate state vector at the same coding moment.

Preferably, the method for determining a saturation function according to the measured output anomaly vector includes:

obtaining the set maximum value vector corresponding to the measurement output abnormal vector;

determining the absolute value of the measured output anomaly vector;

The magnitude of the saturation function is determined according to the absolute value and its corresponding set maximum value vector, and the sign of the saturation function is determined according to the measured output anomaly vector.

Preferably, the method for decoding the encoded vector to obtain the decoded vector includes:

Obtain a plurality of codewords according to the coding vector, and determine a plurality of center points of the corresponding hyperrectangles of the plurality of codewords;

The corresponding codewords are decoded according to the plurality of center points, respectively, to obtain the decoding vector.

Preferably, the method of determining the controller of the controlled object according to the decoding vector and the state observation model of the mathematical model, and obtaining the gain of the controller, includes:

According to the decoding vector, determine the controller of the power equipment in the controlled object with the gain to be determined;

The state observation model controller based on the mathematical model determines the mathematical model corresponding to the closed-loop form of the controlled object;

A gain matrix is determined according to the mathematical model corresponding to the closed-loop form and the input-state stability index, and the to-be-determined gain is solved according to the gain matrix to obtain the gain of the controller.

According to an aspect of the present disclosure, there is provided a positioning driving control device, comprising:

a gain determination unit, configured to determine the gain corresponding to the controller according to the decoding vector corresponding to the orientation information of the controlled object when the measurement output of the sensor is abnormal;

an orientation determining unit, configured to obtain a decoding vector corresponding to the orientation information at the second moment according to the controller and the decoding vector corresponding to the orientation information at the first moment;

The positioning and driving unit determines the driving of the controlled object based on the decoding vector corresponding to the orientation information at the second moment.

According to an aspect of the present disclosure, a positioning and driving control system is provided, applied to an offshore drilling platform, including:

Drilling platform power system;

The drilling platform power system is used to determine the gain corresponding to the controller according to the decoding vector corresponding to the orientation information of the offshore drilling platform when the sensor's measurement output is abnormal; and corresponding to the controller and the orientation information at the first moment. to obtain the decoding vector corresponding to the orientation information at the second moment;

The drilling platform power system determines the running of the offshore drilling platform based on the decoding vector corresponding to the orientation information at the second moment.

According to an aspect of the present disclosure, there is provided an electronic device, comprising:

processor;

memory for storing processor-executable instructions;

Wherein, the processor is configured to: execute the above positioning driving control method.

According to an aspect of the present disclosure, there is provided a computer-readable storage medium having computer program instructions stored thereon, the computer program instructions implementing the above positioning driving control method when executed by a processor.

In the embodiments of the present disclosure, a positioning driving control method and device, system, electronic device and storage medium technical solution are proposed, so as to realize the driving of the controlled object when the measurement output of the sensor is abnormal. Solved the problem that when the sensor generates abnormal values, it will affect the driving.

It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the accompanying drawings.

Description of drawings

The accompanying drawings, which are incorporated into and constitute a part of this specification, illustrate embodiments consistent with the present disclosure, and together with the description, serve to explain the technical solutions of the present disclosure.

FIG. 1 shows a flowchart of a positioning driving control method according to an embodiment of the present disclosure;

FIG. 2 shows a block diagram of a positioning driving control system according to an embodiment of the present disclosure;

3 illustrates a graph of disturbance components (environmental disturbance vectors) according to an embodiment of the present disclosure;

以及解码向量

轨迹；Fig. 4 shows the actual state vector x _1,k of the closed-loop system of dynamic positioning of the offshore drilling platform according to the embodiment of the present disclosure, and the trajectory of the state estimation vector

and the decoded vector

track;

以及解码向量

轨迹；FIG. 5 is the actual state vector x _2,k of the closed-loop dynamic positioning system of the offshore drilling platform provided by the embodiment of the present invention, and the state estimation trajectory

and the decoded vector

track;

Fig. 6 is the decoding error w _1,k and w _2,k trajectories of the closed-loop system of dynamic positioning of the offshore drilling platform provided by the embodiment of the present invention;

FIG. 7 is a block diagram of an electronic device 800 according to an exemplary embodiment;

FIG. 8 is a block diagram of an electronic device 1900 according to an exemplary embodiment.

Detailed ways

Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures denote elements that have the same or similar functions. While various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

The term "and/or" in this article is only an association relationship to describe the associated objects, indicating that there can be three kinds of relationships, for example, A and/or B, it can mean that A exists alone, A and B exist at the same time, and A and B exist independently B these three cases. In addition, the term "at least one" herein refers to any combination of any one of the plurality or at least two of the plurality, for example, including at least one of A, B, and C, and can mean including from A, B, and C. Any one or more elements selected from the set of B and C.

In addition, in order to better illustrate the present disclosure, numerous specific details are set forth in the following detailed description. It will be understood by those skilled in the art that the present disclosure may be practiced without certain specific details. In some instances, methods, means, components and circuits well known to those skilled in the art have not been described in detail so as not to obscure the subject matter of the present disclosure.

It can be understood that the above-mentioned method embodiments mentioned in the present disclosure can be combined with each other to form a combined embodiment without violating the principle and logic.

In addition, the present disclosure also provides a positioning and driving control device, a control system, an electronic device, a computer-readable storage medium, and a program, all of which can be used to implement any positioning and driving control method provided by the present disclosure. For the corresponding technical solutions and descriptions, refer to The corresponding records in the method part are not repeated here.

表示n维欧几里得空间，

表示所有n×m阶实矩阵的集合。

表示整数集合。I和0分别表示单位矩阵、零矩阵。矩阵P＞0表示P为实对称正定矩阵，

和

分别代表随机变量x的数学期望和y条件下随机变量x的数学期望。||x||代表向量x的欧几里得范数。diag{A₁,A₂,…,A_n}表示对角块是矩阵A₁,A₂,...,A_n的块对角矩阵，符号*在对称块矩阵中表示对称项的省略。如果M表示一个对称矩阵，那么λ_max(M),λ_min(M)分别表示M的最大及最小特征值。符号

表示克罗内克乘积运算。

如果函数

是严格递增的，那么称γ(·)为

类函数。如果

并且当s→∞时，γ(s)→∞，那么我们称函数γ(·)为

类函数。对于映射

如果对于确定的k为

类函数，并且对于确定的s，当k→∞，值为0，那么称

为

类函数。若说明书中没有明确指定矩阵维数，则假定其维数适合矩阵的代数运算。In the embodiment of the present disclosure, ^MT represents the transpose of the matrix M, and M ⁻¹ represents the inverse of the matrix M.

represents an n-dimensional Euclidean space,

represents the set of all real matrices of order n×m.

Represents a collection of integers. I and 0 represent the identity matrix and the zero matrix, respectively. The matrix P>0 means that P is a real symmetric positive definite matrix,

and

represent the mathematical expectation of the random variable x and the mathematical expectation of the random variable x under the condition of y, respectively. ||x|| represents the Euclidean norm of the vector x. diag{A ₁ ,A ₂ ,…,A _n } indicates that the diagonal block is a block diagonal matrix of matrices A ₁ ,A ₂ ,...,A _n , and the symbol * in the symmetric block matrix indicates the omission of symmetric terms. If M represents a symmetric matrix, then λ _max (M) and λ _min (M) represent the largest and smallest eigenvalues of M, respectively. symbol

Represents the Kronecker product operation.

if function

is strictly increasing, then γ( ) is called as

class function. if

And when s→∞, γ(s)→∞, then we call the function γ(·) as

class function. for mapping

If for a certain k is

class function, and for a certain s, when k→∞, the value is 0, then it is called

for

class function. If the matrix dimension is not explicitly specified in the specification, it is assumed that its dimension is suitable for the algebraic operation of the matrix.

FIG. 1 shows a flowchart of a positioning driving control method according to an embodiment of the present disclosure. As shown in FIG. 1 , the positioning driving control method includes: step S101 : according to the orientation information of the controlled object when the measurement output of the sensor is abnormal The corresponding decoding vector determines the gain corresponding to the controller; Step S102: According to the controller and the decoding vector corresponding to the bearing information at the first moment, obtain the decoding vector corresponding to the bearing information at the second moment; Step S103: Based on the first moment The decoded vector corresponding to the orientation information at the two moments determines (controls) the driving of the controlled object. In order to realize the driving of the controlled object when the measurement output of the sensor is abnormal. Solved the problem that when the sensor generates abnormal values, it will affect the driving. The first time is the time before the second time, for example, the first time is 9:00 am, and the second time is 9:05 am.

In the present disclosure, after the gain corresponding to the controller is determined, the controller can obtain the decoding vector corresponding to the orientation information at the second moment according to the decoding vector corresponding to the orientation information at the first moment, and the controlled object is based on the orientation at the second moment. The decoding vector corresponding to the information is used for driving. The present disclosure introduces an encoding and decoding communication protocol, so that even if the data is stolen during the transmission process, there is no way to obtain the real data, which effectively avoids the phenomenon of data insecurity. Therefore, the present disclosure is not only innovative in theory, but also can meet the needs of engineering applications.

Step S101: Determine the gain corresponding to the controller according to the decoding vector corresponding to the orientation information of the controlled object when the measurement output of the sensor is abnormal.

In the present disclosure, the method for determining the gain corresponding to the controller according to the decoding vector corresponding to the orientation information of the controlled object when the measurement output of the sensor is abnormal includes: obtaining the mathematical model corresponding to the angle and position measurement of the controlled object and the The measurement output abnormal vector of the sensor in the mathematical model; the state observer is determined according to the mathematical model and the measurement output abnormal vector, and the intermediate state vector is determined according to the decoder; according to the estimated vector of the state observer and the The intermediate state vector determines a coding vector; and, decode the coding vector to obtain a decoding vector; determine the controller of the controlled object according to the decoding vector and the state observation model of the mathematical model, and obtain the Controller gain. Wherein, the orientation information includes at least position and/or speed; the controlled object may be an offshore drilling platform.

In an embodiment of the present disclosure, before acquiring the mathematical model corresponding to the angle and position of the controlled object, the mathematical model is determined, and the method for determining the mathematical model includes: acquiring the environment of the controlled object The interference vector, the control input vector of the power equipment, and the vector corresponding to the orientation information; the mathematical model is determined based on the environmental disturbance vector, the control input vector of the power equipment, and the vector corresponding to the orientation information.

For example, the position and velocity measurement information of the drilling platform in three different degrees of freedom can be measured in real time through the position sensor and the velocity sensor. The position and velocity measurement information in the three different degrees of freedom is the vector corresponding to the orientation information. The environmental disturbance vector is the environmental disturbance force (non-linear external disturbance signal) such as wind, wave and current, and the control input vector of the power equipment is the control input signal (vector), based on the environmental disturbance vector, the control input vector of the power equipment and the orientation The vector corresponding to the information determines the mathematical model.

In the embodiment of the present disclosure, the mathematical model includes: a state observation model and a sensor measurement output model; the state observation model is used for the disturbance component at time K, the control input vector of the power equipment, and the orientation information The orientation information at time K+1 is determined; the sensor measurement output model is used to measure the measurement output corresponding to the orientation information at time K.

In the embodiment of the present disclosure, the method for determining the state observation model includes: determining a nonlinear external disturbance function corresponding to the environmental disturbance vector, and a vector corresponding to the orientation information at time K and the nonlinear The external disturbance function determines the disturbance component at time K; determines the coefficient matrix of the state observation model according to the disturbance component at time K, the control input vector and orientation information of the power equipment, and the orientation information at time K+1; based on the coefficients The matrix and the corresponding disturbance component at time K, the control input vector and orientation information of the power equipment determine the state observation model. Specifically, a linear regression can be performed on the environmental disturbance vector to obtain a nonlinear external disturbance function corresponding to the environmental disturbance vector. Similarly, linear regression can be performed on the disturbance component at time K, the control input vector and orientation information of the power equipment, and the orientation information at time K+1 to determine the coefficient matrix of the state observation model.

In the embodiment of the present disclosure, the mathematical model of the dynamic positioning system of the offshore drilling platform is given, and the mathematical model includes high-frequency motion and low-frequency motion models; Mathematical models and dynamic mathematical models of thrusters. The mathematical model of the offshore drilling platform is as follows:

为K时刻钻井平台位置及速度信息组成的状态向量，初始状态为s₀满足‖s₀‖₂≤₀，其中‖‖₂为2范数，₀为设定已知常数；

为K时刻传感器的测量输出；

为推力器(动力设备)的控制输入信号(向量)；

为非线性外部扰动函数。系数矩阵E，D，B，N为适当维数的实值矩阵。In formula (1),

is the state vector composed of the position and velocity information of the drilling platform at time K, the initial state is s ₀ satisfies ‖s ₀ ‖ ₂ ≤ ₀ , where ‖‖ ₂ is the 2 norm, and ₀ is a known constant;

is the measurement output of the sensor at time K;

It is the control input signal (vector) of the thruster (power equipment);

is a nonlinear external disturbance function. The coefficient matrices E, D, B, N are real-valued matrices of appropriate dimensions.

In the present disclosure, the method for determining a state observer according to the mathematical model and the measurement output abnormality vector includes: acquiring the measurement output abnormality vector, determining a saturation function according to the measurement output abnormality vector; A saturation function and a state observation model of the mathematical model determine the state observer. The present disclosure introduces a saturation function to alleviate the impact of sensor outliers on system performance.

大于或等于设定值(向量)，则认为是测量输出异常值(向量)。In the embodiment of the present disclosure, if the measurement output of the mathematical model and the possible sensor is greater than or equal to the set value (vector), it is regarded as an abnormal value (vector) of the measurement output. E.g,

If it is greater than or equal to the set value (vector), it is considered to be an abnormal value (vector) of the measurement output.

In the present disclosure, the method for determining a saturation function according to the measurement output abnormality vector includes: acquiring a set maximum value vector corresponding to the measurement output abnormality vector; determining the absolute value of the measurement output abnormality vector; The magnitude of the saturation function is determined by the absolute value and its corresponding set maximum vector, and the sign of the saturation function is determined according to the measured output anomaly vector.

Wherein, the method for determining the size of the saturation function according to the absolute value and its corresponding set maximum value vector is to take the minimum value of the absolute value and its corresponding set maximum value vector to determine the size of the saturation function.

In the embodiment of the present disclosure, the state observer is determined according to the saturation function and the state observation model of the mathematical model, and its form is as follows:

为状态

在k时刻的估计向量；

为状态

在k+1时刻的估计向量；

为估计向量的初始向量；K_e为待设计的观测器增益；

为饱和函数，用来抵抗传感器异常值，定义如下：In formula (2)

state

the estimated vector at time k;

state

The estimated vector at time k+1;

is the initial vector of the estimated vector; _Ke is the observer gain to be designed;

is a saturation function, used to resist sensor outliers, defined as follows:

为在设定最大值向量中

的第ι个元素对应的设定最大值，其中sign为符号函数。y_n为k时刻(n时刻)传感器的测量输出；

在k时刻(n时刻)的估计向量。in,

is in the set maximum vector

The set maximum value corresponding to the ith element of , where sign is a sign function. y _n is the measurement output of the sensor at time k (time n);

The estimated vector at time k (time n).

In order to ensure the rationality of the selection of the upper and lower limits of saturation in the above step 2, the computer is used to carry out statistics and analysis on a large number of existing data of the existing drilling platform, and then select the maximum value of the saturation function as

In the present disclosure, an encoding and decoding mechanism is introduced to ensure the security of data during transmission. The method for determining the intermediate state vector according to the decoder includes: decoding the vector according to the state observation model of the mathematical model and the decoder at the last decoding time to obtain the intermediate state vector at this time.

带入数学模型的状态观测模型得到此时刻的中间状态向量

即：In the embodiment of the present disclosure, the decoding vector at the last decoding time is

The state observation model brought into the mathematical model gets the intermediate state vector at this moment

which is:

其中，时刻k与编码时刻ld相对应。

The time k corresponds to the encoding time ld.

In the present disclosure, the method for determining a coding vector according to the estimated vector of the state observer and the intermediate state vector includes: according to the difference between the estimated vector and the intermediate state vector at the same coding moment, Determine the encoding vector.

In the embodiment of the present disclosure, the encoding vector ζ(ld) is determined according to the difference between the estimated vector and the intermediate state vector at the same encoding moment.

In the embodiment of the present disclosure, the method for decoding the encoding vector to obtain the decoding vector includes: obtaining a plurality of codewords according to the encoding vector, and determining the corresponding hyperrectangles of the plurality of codewords. a plurality of center points; the corresponding codewords are decoded according to the plurality of center points, respectively, to obtain the decoding vector.

对编码向量ζ(ld)编码得到一系列多码字

求一系列多码字对应超矩形的中心点，其中，超矩形具有多个子超矩形

例如，每个子超矩形内具有中心点；利用子超矩形内的中心点对相应的码字进行解码。其中，_nx为编码向量的维数，超矩形

c为编码区间，q为编码区间划分的个数，d为编码步长，l＝1,2,3...，其中ld为编码时刻，其中‖‖₂为2范数。for

Encode the encoding vector ζ(ld) to get a series of multi-codewords

Find the center point of a series of multi-codewords corresponding to a hyperrectangle, where the hyperrectangle has multiple sub-hyperrectangles

For example, each sub-super-rectangle has a center point; the corresponding codeword is decoded using the center point in the sub-super-rectangle. Among them, _nx is the dimension of the encoding vector, the super rectangle

c is the coding interval, q is the number of divisions of the coding interval, d is the coding step size, l=1, 2, 3..., where ld is the coding time, and ‖‖ ₂ is the 2 norm.

时刻k与编码时刻ld对应(时刻K＝时刻ld)时，将

转换为

其中编码时刻ld属于状态观测器输出的时段。例如：编码时刻ld为3、6、9，则状态观测器输出的时段K为1-10任何一个整数值。根据动态数学模型及上一解码时刻ld-1解码向量

得到此时刻ld的中间状态向量

Among them, the estimated vector at time k obtained according to the state observer

When the time k corresponds to the encoding time ld (time K=time ld), the

convert to

Among them, the coding time ld belongs to the period of the output of the state observer. For example, if the coding time ld is 3, 6, or 9, the period K output by the state observer is any integer value from 1 to 10. According to the dynamic mathematical model and the last decoding time ld-1 decoding vector

Get the intermediate state vector of ld at this moment

During encoding, the encoder encodes according to a formula whose form is:

得到此时刻ld的中间状态向量

If it is not at the encoding time, that is, the time K is not equal to the encoding time ld, the decoding vector at time k is assigned to the intermediate state vector at time k; according to the dynamic mathematical model and the previous decoding time ld-1 decoding vector

Get the intermediate state vector of ld at this moment

The decoder decodes with a formula of the form:

Encode the coding vector ζ(ld) to get a series of codewords

Find the center point of a series of codewords corresponding to the super-rectangle, wherein the super-rectangle has multiple sub-super-rectangles, and each sub-super-rectangle has a center point; use the center point in each sub-super-rectangle to decode the corresponding codeword.

其中，c为编码向量的编码区间，q为编码区间划分的个数。

Among them, c is the coding interval of the coding vector, and q is the number of divisions of the coding interval.

In the embodiment of the present disclosure, in the process of setting the encoding and decoding mechanism, the encoding period d and the number of quantization intervals q will greatly affect the decoding error and thus affect the performance of the controller. Therefore, the size of the coding period and the number of quantization intervals can be adjusted in real time according to the actual operating conditions of the drilling platform, and d=3 and q=10 can be selected in the present disclosure.

基于所述数学模型的状态观测模型控制器确定所述被控对象闭环形式对应的数学模型；根据所述闭环形式对应的数学模型及输入-状态稳定指标确定增益矩阵，并根据所述增益矩阵求解所述待确定增益，得到所述控制器的增益。In the disclosure, the method of determining the controller of the controlled object according to the decoding vector and the state observation model of the mathematical model, and obtaining the gain of the controller, includes: determining according to the decoding vector The power equipment in the controlled object has a controller with a gain to be determined

The state observation model controller based on the mathematical model determines the mathematical model corresponding to the closed-loop form of the controlled object; determines the gain matrix according to the mathematical model corresponding to the closed-loop form and the input-state stability index, and solves the problem according to the gain matrix The to-be-determined gain is the gain of the controller.

令动力设备

设计控制器，进而得到被控对象的闭环形式对应的数学模型，即海洋钻井平台动力定位闭环系统，其形式如下：In the embodiment of the present disclosure, the decoding vector corresponding to the position and speed of the offshore drilling platform obtained by decoding

power equipment

Design the controller, and then obtain the mathematical model corresponding to the closed-loop form of the controlled object, that is, the closed-loop dynamic positioning system of the offshore drilling platform, and its form is as follows:

x _k+1 =(E+BK _c )x _k +Df(x _k )+BK _c w _k (4);

Among them, K _c is the gain to be determined, and the decoding error

The controller gain matrix can be obtained by applying the input-state stability theorem and solving the following convex optimization problem:

以及正标量μ₃待求。另外

Γ＝[B(B^TB)^-1(B^T)^⊥]^T，

B^⊥为B^T的零空间正交基，也就是B^TB^⊥＝0。控制器的待确定增益为

Among them, Q, Z are positive definite matrices to be obtained, matrices G ₁₁ , G ₁₂ , G ₂₂ ,

and the positive scalar _μ3 to be found. in addition

Γ=[B(B ^T B) ^-1 (B ^T ) ^⊥ ] ^T ,

B ^⊥ is the null space orthonormal basis of B ^T , that is, B ^T B ^⊥ =0. The to-be-determined gain of the controller is

Based on the above step S101, the present disclosure essentially proposes a controller determination method and device, a control system, an electronic device and a storage medium when the measurement output is abnormal, including: orientation information of the controlled object when the measurement output of the sensor is abnormal The corresponding decoding vector determines the corresponding gain of the controller. In order to realize the driving of the controlled object when the measurement output of the sensor is abnormal. Solved the problem that when the sensor generates abnormal values, it will affect the driving.

In the embodiments disclosed in the present disclosure, the method for determining the gain corresponding to the controller according to the decoding vector corresponding to the orientation information of the controlled object when the sensor's measurement output is abnormal includes: acquiring mathematical equations corresponding to the angle and position of the controlled object. Model and measurement output anomaly vector of the sensor in the mathematical model; determine a state observer according to the mathematical model and the measurement output anomaly vector, and determine an intermediate state vector according to the decoder; according to the estimated vector of the state observer and the intermediate state vector to determine a coding vector; and, decode the coding vector to obtain a decoded vector; determine the controller of the controlled object according to the decoded vector and the state observation model of the mathematical model, and find Take the gain of the controller. Wherein, the orientation information includes at least position and/or speed; the controlled object is a power device of an offshore drilling platform. For details, please refer to the detailed description in the above positioning control method.

Step S102: Obtain a decoding vector corresponding to the orientation information at the second moment according to the controller and the decoding vector corresponding to the orientation information at the first moment.

In the present disclosure, after the gain corresponding to the controller is determined, the controller can obtain the decoding vector corresponding to the orientation information at the second moment according to the decoding vector corresponding to the orientation information at the first moment, and the controlled object is based on the orientation at the second moment. The decoding vector corresponding to the information is used for driving. The orientation information includes at least position and/or speed, and the first time is the time before the second time, for example, the first time is 9:00 am and the second time is 9:05 am. At the same time, the present disclosure utilizes an encoding and decoding mechanism to ensure the security of data during network transmission.

通过被控对象的闭环形式对应的数学模型(控制器)，可以得到第一时刻K下一时刻的第二时刻K+1的方位信息对应的解码向量(第二时刻的位置及速度对应的解码向量)

其中，解码误差

即第一时刻K的方位信息x_k对应的解码向量

与第一时刻K的方位信息x_k的差值。In the embodiment of the present disclosure, the mathematical model corresponding to the closed-loop form of the controlled object is x _k+1 =(E+BK _c )x _k +Df(x _k )+BK _c w _k , where the gain K _c to be determined is It has been determined in the above method and is a known quantity. The decoding vector corresponding to the orientation information x _k based on the first moment K (the decoding vector corresponding to the position and velocity at the first moment)

Through the mathematical model (controller) corresponding to the closed-loop form of the controlled object, the decoding vector corresponding to the orientation information of the second time K+1 at the second time K+1 at the next time from the first time K can be obtained (the decoding vector corresponding to the position and speed at the second time vector)

Among them, the decoding error

That is, the decoding vector corresponding to the orientation information x _k at the first moment K

The difference from the orientation information x _k at the first moment K.

In the present disclosure or the embodiments of the present disclosure, the controller determines according to the decoding vector corresponding to the orientation information of the controlled object when the measurement output of the sensor is abnormal, and obtains the observed information by using an observer capable of resisting the abnormal value measured by the sensor. , and use the encoding and decoding mechanism to ensure the security of data during network transmission.

Step S103: Determine (control) the driving of the controlled object based on the decoding vector corresponding to the orientation information at the second time. The controlled object travels based on the decoded vector corresponding to the orientation information at the second moment. That is to say, after the controller outputs the decoding vector corresponding to the orientation information at the second moment, as a control signal of the controlled object (offshore drilling platform), the controlled object (offshore drilling platform) is based on the orientation information at the second moment. The corresponding decoded vector is used for driving. In order to realize the driving of the controlled object when the measurement output of the sensor is abnormal. Solved the problem that when the sensor generates abnormal values, it will affect the driving.

The present disclosure measures the position and velocity measurement information of the drilling platform in three different degrees of freedom in real time through the position and velocity sensors. The observed information is obtained by the observer which can resist the abnormal value measured by the sensor, and the coding and decoding mechanism is used to ensure the security of the data in the network transmission process. Using the decoding information to get the decoding error, and using the input-state stability theorem, the controller design method to make the offshore drilling platform run according to the specified position is obtained. Compared with the existing observer-based controller design method, the control method of the present invention can resist the abnormal value of the sensor under the coding and decoding mechanism, and obtains a control method that relies on the solution of the linear matrix inequality, so as to resist the abnormal value and guarantee the data. The purpose of transmission security is more realistic and easy to solve and realize.

In order to obtain the sufficient condition (5) for the existence of the controller, the following definition 1 and lemma 1 are used.

Definition 1: Consider a nonlinear system:

ρ _k+1 =g(ρ _k ,ν _k ) (6);

及

分别代表系统状态，外部输入以及连续的非线性函数满足g(0,0)＝0。对于系统(6)，假设存在一个

类函数α(·,·)和一个

类函数β(·)使对于

和

以下条件成立:in

and

Respectively represent the system state, the external input and the continuous nonlinear function satisfy g(0,0)=0. For system (6), suppose there is a

class function α(·,·) and a

The class function β( ) makes for

and

The following conditions hold:

‖ρ _k ‖ ₂ ≤α(‖ρ ₀ ‖ ₂ ,k)+β(‖ν _k ‖ _∞ );

Then we call system (6) input-state stable, where

一个

类函数

三个

类函数σ₁(·)，σ₂(·)和σ₃(·)使对于

和

以下两个不等式成立:Lemma 1: Suppose there is a Lyapunov function V(k,ρ _k ):

One

class function

three

The class functions σ ₁ (·), σ ₂ (·) and σ ₃ (·) make for

and

The following two inequalities hold:

σ ₁ (‖ρ _k ‖ ₂ )≤V(k,‖ρ _k ‖ ₂ )≤σ ₂ (‖ρ _k ‖ ₂ );

V(k+1,ρ _k+1 )-V(k,ρ _k )≤-σ ₃ (‖ρ _k ‖ ₂ )+θ(‖ν _k ‖ ₂ );

Then the nonlinear system (6) is input-output stable. α(·,·) and β(·) in Definition 2 can be chosen as:

表示单调函数σ₁(·)的反函数，

同样。in

represents the inverse of the monotone function σ ₁ (·),

same.

The executing subject of the positioning driving control method proposed in the present disclosure may be a positioning driving control device. For example, the positioning driving control method may be executed by a terminal device or a server or other processing device, wherein the terminal device may be a user equipment (User Equipment, UE), mobile devices, user terminals, terminals, cellular phones, cordless phones, Personal Digital Assistant (PDA), handheld devices, computing devices, in-vehicle devices, wearable devices, and the like. In some possible implementations, the positioning and driving control method may be implemented by the processor calling computer-readable instructions stored in the memory.

Those skilled in the art can understand that in the above method of the specific implementation, the writing order of each step does not mean a strict execution order but constitutes any limitation on the implementation process, and the specific execution order of each step should be based on its function and possible Internal logic is determined.

The positioning and driving control device proposed in the present disclosure includes: a gain determination unit for determining the gain corresponding to the controller according to the decoding vector corresponding to the orientation information of the controlled object when the measurement output of the sensor is abnormal; the orientation determination unit for According to the controller and the decoding vector corresponding to the orientation information at the first moment, the decoding vector corresponding to the orientation information at the second moment is obtained; the positioning and driving unit determines the decoding vector corresponding to the orientation information at the second moment based on the decoding vector The driving of the controlled object. In order to realize the driving of the controlled object when the measurement output of the sensor is abnormal. Solved the problem that when the sensor generates abnormal values, it will affect the driving.

2 shows a block diagram of a positioning and driving control system according to an embodiment of the present disclosure. As shown in FIG. 2 , the positioning and driving control system, applied to an offshore drilling platform, includes: a drilling platform power system; the drilling platform power system, For determining the gain corresponding to the controller according to the decoding vector corresponding to the orientation information of the offshore drilling platform when the measurement output of the sensor is abnormal; and according to the decoding vector corresponding to the controller and the orientation information at the first moment, obtain the second The decoding vector corresponding to the orientation information at the time; the drilling platform power system determines the driving of the offshore drilling platform based on the decoding vector corresponding to the orientation information at the second time. In order to realize the driving of the controlled object when the measurement output of the sensor is abnormal. Solved the problem that when the sensor generates abnormal values, it will affect the driving.

In FIG. 2 , the drilling platform power system includes: an offshore drilling platform 1 as a controlled object, a sensor 2 , a state observer 3 , an encoder 4 , a decoder 5 and a controller 6 . The mathematical model corresponding to the closed-loop form of the controlled object is x _k+1 =(E+BK _c )x _k +Df(x _k )+BK _c w _k , wherein the gain K _c to be determined has been determined in the above method, is a known quantity. The sensor 2 measures the azimuth information at each moment in real time. If the measurement output of the sensor is abnormal, the state observer 3 outputs the estimated vector corresponding to the azimuth information. The estimated vector is encoded by the encoder 4 and decoded by the decoder 5 to obtain the decoded vector. , the controller 6 obtains the decoding vector corresponding to the azimuth information of the next moment according to the decoding vector corresponding to the azimuth information of the previous moment, and the offshore drilling platform 1 determines (controls) the decoding vector corresponding to the azimuth information of the next moment according to the Driving on an offshore drilling platform.

通过被控对象的闭环形式对应的数学模型，可以得到第一时刻K下一时刻的第二时刻K+1的方位信息对应的解码向量(第二时刻的位置及速度对应的解码向量)

其中，解码误差

即第一时刻K的方位信息x_k对应的解码向量

与第一时刻K的方位信息x_k的差值。The decoding vector corresponding to the orientation information x _k based on the first moment K (the decoding vector corresponding to the position and velocity at the first moment)

Through the mathematical model corresponding to the closed-loop form of the controlled object, the decoding vector corresponding to the orientation information of the second time K+1 at the second time K+1 at the next time from the first time K can be obtained (the decoding vector corresponding to the position and speed of the second time)

Among them, the decoding error

That is, the decoding vector corresponding to the orientation information x _k at the first moment K

The difference from the orientation information x _k at the first moment K.

In some embodiments, the functions or modules included in the apparatus or system provided by the embodiments of the present disclosure may be used to execute the methods described in the above method embodiments. For specific implementation, reference may be made to the above method embodiments. For brevity , which will not be repeated here.

According to the above algorithm, taking an offshore drilling platform as the research object, the main parameters are the platform's total length of 74.2m, width of 18.6m, vertical width of 84.6m, design draft of 6.35m, platform net weight of 4205t, and main engine power of 3530kW. The platform model parameters have been identified through multiple sea trials to obtain the following parameters:

N＝[1.85 -0.4].

N=[1.85-0.4].

External disturbances are as follows:

The saturation function σ(Ne _k ) satisfies the following conditions:

Formula (5) is solved, and the gain K _c of the controller is obtained as follows:

Substitute the gain of the controller into the controller of the dynamic positioning system of the offshore drilling platform when the measurement output of the sensor is abnormal, and realize the control of the offshore drilling platform with the abnormal value of the sensor under the coding and decoding mechanism. The simulation results are shown in Figure 3 to Figure 6 .

以及解码向量

轨迹；图5是本发明实施例提供的海洋钻井平台动力定位闭环系统实际状态向量x_2,k，状态估计轨迹

以及解码向量

轨迹；图6是本发明实施例提供的海洋钻井平台动力定位闭环系统的解码误差w_1,k以及w_2,k轨迹。由图3至图6可见，在编码解码机制下，对于具有传感器异常值的海洋钻井平台，本公开提出的抵抗传感器异常值的控制器可有效地控制海洋钻井平台。Fig. 3 shows the disturbance component (environmental disturbance vector) diagram according to the embodiment of the present disclosure; Fig. 4 shows the actual state vector x _1,k of the closed-loop system of dynamic positioning of the offshore drilling platform according to the embodiment of the present disclosure, and the trajectory of the state estimation vector

and the decoded vector

trajectory; Figure 5 is the actual state vector x _2,k of the closed-loop system of dynamic positioning of the offshore drilling platform provided by the embodiment of the present invention, and the state estimation trajectory

and the decoded vector

Trajectory; FIG. 6 is the trajectory of decoding errors w _1,k and w _2,k of the closed-loop system of dynamic positioning of the offshore drilling platform provided by the embodiment of the present invention. It can be seen from FIG. 3 to FIG. 6 that, under the coding and decoding mechanism, for an offshore drilling platform with sensor abnormal values, the controller against sensor abnormal values proposed in the present disclosure can effectively control the offshore drilling platform.

Embodiments of the present disclosure further provide a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the foregoing method is implemented. The computer-readable storage medium may be a non-volatile computer-readable storage medium.

An embodiment of the present disclosure further provides an electronic device, including: a processor; a memory for storing instructions executable by the processor; wherein, the processor is configured for the above-mentioned positioning and driving control method. The electronic device may be provided as a terminal, server or other form of device.

FIG. 7 is a block diagram of an electronic device 800 according to an exemplary embodiment. For example, electronic device 800 may be a mobile phone, computer, digital broadcast terminal, messaging device, game console, tablet device, medical device, fitness device, personal digital assistant, etc. terminal.

7, an electronic device 800 may include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, a sensor component 814 , and the communication component 816 .

The processing component 802 generally controls the overall operation of the electronic device 800, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to perform all or some of the steps of the methods described above. Additionally, processing component 802 may include one or more modules that facilitate interaction between processing component 802 and other components. For example, processing component 802 may include a multimedia module to facilitate interaction between multimedia component 808 and processing component 802.

Memory 804 is configured to store various types of data to support operation at electronic device 800 . Examples of such data include instructions for any application or method operating on electronic device 800, contact data, phonebook data, messages, pictures, videos, and the like. Memory 804 may be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic or Optical Disk.

Power supply assembly 806 provides power to various components of electronic device 800 . Power supply components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 800 .

Multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touch, swipe, and gestures on the touch panel. The touch sensor may not only sense the boundaries of a touch or swipe action, but also detect the duration and pressure associated with the touch or swipe action. In some embodiments, the multimedia component 808 includes a front-facing camera and/or a rear-facing camera. When the electronic device 800 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera may receive external multimedia data. Each of the front and rear cameras can be a fixed optical lens system or have focal length and optical zoom capability.

Audio component 810 is configured to output and/or input audio signals. For example, audio component 810 includes a microphone (MIC) that is configured to receive external audio signals when electronic device 800 is in operating modes, such as calling mode, recording mode, and voice recognition mode. The received audio signal may be further stored in memory 804 or transmitted via communication component 816 . In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

The I/O interface 812 provides an interface between the processing component 802 and a peripheral interface module, which may be a keyboard, a click wheel, a button, or the like. These buttons may include, but are not limited to: home button, volume buttons, start button, and lock button.

Sensor assembly 814 includes one or more sensors for providing status assessment of various aspects of electronic device 800 . For example, the sensor assembly 814 can detect the on/off state of the electronic device 800, the relative positioning of the components, such as the display and keypad of the electronic device 800, the sensor assembly 814 can also detect the electronic device 800 or the electronic device 800 The position of a component changes, the presence or absence of user contact with the electronic device 800, the orientation or acceleration/deceleration of the electronic device 800, and the temperature of the electronic device 800 changes. Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact. Sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

Communication component 816 is configured to facilitate wired or wireless communication between electronic device 800 and other devices. Electronic device 800 may access wireless networks based on communication standards, such as WiFi, 2G or 3G, or a combination thereof. In one exemplary embodiment, the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

In an exemplary embodiment, electronic device 800 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A programmed gate array (FPGA), controller, microcontroller, microprocessor or other electronic component implementation is used to perform the above method.

In an exemplary embodiment, a non-volatile computer-readable storage medium, such as a memory 804 comprising computer program instructions executable by the processor 820 of the electronic device 800 to perform the above method is also provided.

FIG. 8 is a block diagram of an electronic device 1900 according to an exemplary embodiment. For example, the electronic device 1900 may be provided as a server. 8, electronic device 1900 includes processing component 1922, which further includes one or more processors, and a memory resource represented by memory 1932 for storing instructions executable by processing component 1922, such as applications. An application program stored in memory 1932 may include one or more modules, each corresponding to a set of instructions. Additionally, the processing component 1922 is configured to execute instructions to perform the positioning and driving control methods described above.

The electronic device 1900 may also include a power supply assembly 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and an input output (I/O) interface 1958 . Electronic device 1900 may operate based on an operating system stored in memory 1932, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™ or the like.

In an exemplary embodiment, a non-volatile computer-readable storage medium is also provided, such as memory 1932 comprising computer program instructions executable by processing component 1922 of electronic device 1900 to perform the above-described method.

The present disclosure may be a position and drive control system, a position and travel control method, and/or a computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of the present disclosure.

A computer-readable storage medium may be a tangible device that can hold and store instructions for use by the instruction execution device. The computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (non-exhaustive list) of computer readable storage media include: portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM) or flash memory), static random access memory (SRAM), portable compact disk read only memory (CD-ROM), digital versatile disk (DVD), memory sticks, floppy disks, mechanically coded devices, such as printers with instructions stored thereon Hole cards or raised structures in grooves, and any suitable combination of the above. Computer-readable storage media, as used herein, are not to be construed as transient signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (eg, light pulses through fiber optic cables), or through electrical wires transmitted electrical signals.

The computer readable program instructions described herein may be downloaded to various computing/processing devices from a computer readable storage medium, or to an external computer or external storage device over a network such as the Internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers. A network adapter card or network interface in each computing/processing device receives computer-readable program instructions from a network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing/processing device .

Computer program instructions for carrying out operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or instructions in one or more programming languages. Source or object code, written in any combination, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as the "C" language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server implement. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through the Internet connect). In some embodiments, custom electronic circuits, such as programmable logic circuits, field programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), can be personalized by utilizing state information of computer readable program instructions. Computer readable program instructions are executed to implement various aspects of the present disclosure.

Aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions.

These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer or other programmable data processing apparatus to produce a machine that causes the instructions when executed by the processor of the computer or other programmable data processing apparatus , resulting in means for implementing the functions/acts specified in one or more blocks of the flowchart and/or block diagrams. These computer readable program instructions can also be stored in a computer readable storage medium, these instructions cause a computer, programmable data processing apparatus and/or other equipment to operate in a specific manner, so that the computer readable medium storing the instructions includes An article of manufacture comprising instructions for implementing various aspects of the functions/acts specified in one or more blocks of the flowchart and/or block diagrams.

Computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other equipment to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other equipment to produce a computer-implemented process , thereby causing instructions executing on a computer, other programmable data processing apparatus, or other device to implement the functions/acts specified in one or more blocks of the flowcharts and/or block diagrams.

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more functions for implementing the specified logical function(s) executable instructions. In some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions.

Various embodiments of the present disclosure have been described above, and the foregoing descriptions are exemplary, not exhaustive, and not limiting of the disclosed embodiments. Numerous modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen to best explain the principles of the various embodiments, the practical application or technical improvement over technology in the marketplace, or to enable others of ordinary skill in the art to understand the various embodiments disclosed herein.

Claims (8)

1. a positioning driving control method, is characterized in that, comprises: Determine the gain corresponding to the controller according to the decoding vector corresponding to the orientation information of the controlled object when the sensor's measurement output is abnormal; According to the controller and the decoding vector corresponding to the orientation information at the first moment, the decoding vector corresponding to the orientation information at the second moment is obtained; Determine the driving of the controlled object based on the decoding vector corresponding to the orientation information at the second moment; wherein the orientation information at least includes a position and/or a speed; Wherein, the method for determining the gain corresponding to the controller according to the decoding vector corresponding to the orientation information of the controlled object when the measurement output of the sensor is abnormal, includes: Obtain the mathematical model corresponding to the angle and position of the controlled object and the measurement output abnormal vector of the sensor in the mathematical model; Determine a state observer from the mathematical model and the measured output anomaly vector, and determine an intermediate state vector from a decoder; Determine a coding vector according to the estimated vector of the state observer and the intermediate state vector; and, decode the coding vector to obtain a decoded vector; Determine the controller of the controlled object according to the decoding vector and the state observation model of the mathematical model, and obtain the gain of the controller; Wherein, the controlled object is an offshore drilling platform, and the corresponding mathematical model is:

in,

is the state vector composed of the position and velocity information of the offshore drilling platform at time K, the initial state x ₀ =s ₀ s ₀ satisfies ‖s ₀ ‖ ₂ ≤ ∈ ₀ , where ‖ ‖ ₂ is the 2 norm, and ∈ ₀ is the setting known constant;

is the measurement output of the sensor at time K;

is the control input signal of the power equipment; f( ):

is a nonlinear external disturbance function, E, D, B, N are real-valued matrices with appropriate dimensions; Wherein, the method for determining a state observer according to the mathematical model and the measurement output anomaly vector includes: obtaining the measurement output abnormality vector, and determining a saturation function according to the measurement output abnormality vector; determining the state observer according to the saturation function and the state observation model of the mathematical model; Wherein, the state observer is determined according to the saturation function and the state observation model of the mathematical model, and its form is as follows:

in,

state

the estimated vector at time k;

state

The estimated vector at time k+1;

is the initial vector of the estimated vector; _Ke is the observer gain to be designed; σ( ):

is the saturation function; f( ):

is a nonlinear external disturbance function, E, D, B, N are real-valued matrices with appropriate dimensions; Wherein, the definition of the saturation function is:

in,

is in the set maximum vector

The set maximum value corresponding to the ith element of , wherein sign is the sign function; y _n is the measurement output of the sensor at time n;

Estimated vector at time n; N is a real-valued matrix of appropriate dimension. 2. The positioning driving control method according to claim 1, wherein, The method for determining an intermediate state vector according to the decoder includes: obtaining the intermediate state vector at this moment according to the state observation model of the mathematical model and the decoding vector at the last decoding moment of the decoder; And/or, the method for determining a coding vector according to the estimated vector of the state observer and the intermediate state vector, comprising: A coding vector is determined according to the difference between the estimated vector and the intermediate state vector at the same coding moment. 3. The positioning driving control method according to any one of claims 1-2, wherein the described encoding vector is decoded to obtain a method for decoding the vector, comprising: Obtain a plurality of codewords according to the coding vector, and determine a plurality of center points of the corresponding hyperrectangles of the plurality of codewords; The corresponding codewords are decoded according to the plurality of center points, respectively, to obtain the decoding vector. 4. The positioning driving control method according to any one of claims 1-2, wherein the controller of the controlled object is determined according to the decoding vector and the state observation model of the mathematical model, and The method for obtaining the gain of the controller includes: According to the decoding vector, determine the controller of the power equipment in the controlled object with the gain to be determined; The state observation model controller based on the mathematical model determines the mathematical model corresponding to the closed-loop form of the controlled object; A gain matrix is determined according to a mathematical model corresponding to the closed-loop form and an input-state stability index, and the to-be-determined gain is solved according to the gain matrix to obtain the gain of the controller. 5. A positioning driving control device, characterized in that, comprising: The gain determination unit is used to determine the gain corresponding to the controller according to the decoding vector corresponding to the orientation information of the controlled object when the measurement output of the sensor is abnormal; The decoding vector of the method determines the corresponding gain of the controller, including: Obtain the mathematical model corresponding to the angle and position of the controlled object and the measurement output abnormal vector of the sensor in the mathematical model; Determine a state observer from the mathematical model and the measured output anomaly vector, and determine an intermediate state vector from a decoder; Determine a coding vector according to the estimated vector of the state observer and the intermediate state vector; and, decode the coding vector to obtain a decoded vector; Determine the controller of the controlled object according to the decoding vector and the state observation model of the mathematical model, and obtain the gain of the controller; Wherein, the controlled object is an offshore drilling platform, and the corresponding mathematical model is:

in,

is the state vector composed of the position and velocity information of the offshore drilling platform at time K, the initial state x ₀ =s ₀ s ₀ satisfies ‖s ₀ ‖ ₂ ≤ ∈ ₀ , where ‖ ‖ ₂ is the 2 norm, and ∈ ₀ is the setting known constant;

is the measurement output of the sensor at time K;

is the control input signal of the power equipment; f( ):

is a nonlinear external disturbance function, and E, D, B, and N are real-valued matrices of appropriate dimensions; wherein, the method for determining a state observer according to the mathematical model and the measurement output anomaly vector includes: obtaining the measurement output abnormality vector, and determining a saturation function according to the measurement output abnormality vector; determining the state observer according to the saturation function and the state observation model of the mathematical model; Wherein, the state observer is determined according to the saturation function and the state observation model of the mathematical model, and its form is as follows:

in,

state

the estimated vector at time k;

state

The estimated vector at time k+1;

is the initial vector of the estimated vector; _Ke is the observer gain to be designed; σ( ):

is the saturation function; f( ):

is a nonlinear external disturbance function, E, D, B, N are real-valued matrices with appropriate dimensions; Wherein, the definition of the saturation function is:

in,

is in the set maximum vector

The set maximum value corresponding to the ith element of , where sign is the sign function; y _n is the measurement output of the sensor at time n;

Estimated vector at time n; N is a real-valued matrix of appropriate dimensions; an orientation determining unit, configured to obtain a decoding vector corresponding to the orientation information at the second moment according to the controller and the decoding vector corresponding to the orientation information at the first moment; The positioning and driving unit determines the driving of the controlled object based on the decoding vector corresponding to the orientation information at the second moment; wherein the orientation information at least includes position and/or speed. 6. A positioning and driving control system, applied to an offshore drilling platform, characterized in that, comprising: a drilling platform power system; The drilling platform power system is used for determining the gain corresponding to the controller according to the decoding vector corresponding to the orientation information of the offshore drilling platform when the sensor's measurement output is abnormal; and corresponding to the controller and the orientation information at the first moment. The decoding vector corresponding to the azimuth information at the second moment is obtained; wherein, the method for determining the corresponding gain of the controller according to the decoding vector corresponding to the azimuth information of the marine drilling platform when the measurement output of the sensor is abnormal, includes the following steps: : Obtain the mathematical model corresponding to the angle and position of the controlled object and the measurement output abnormal vector of the sensor in the mathematical model; Determine a state observer from the mathematical model and the measured output anomaly vector, and determine an intermediate state vector from a decoder; Determine a coding vector according to the estimated vector of the state observer and the intermediate state vector; and, decode the coding vector to obtain a decoded vector; Determine the controller of the controlled object according to the decoding vector and the state observation model of the mathematical model, and obtain the gain of the controller; Wherein, the controlled object is an offshore drilling platform, and the corresponding mathematical model is:

in,

is the state vector composed of the position and velocity information of the offshore drilling platform at time K, the initial state x ₀ =s ₀ s ₀ satisfies ‖s ₀ ‖ ₂ ≤ ∈ ₀ , where ‖ ‖ ₂ is the 2 norm, and ∈ ₀ is the setting known constants;

is the measurement output of the sensor at time K;

is the control input signal of the power equipment; f( ):

is a nonlinear external disturbance function, E, D, B, N are real-valued matrices of appropriate dimensions; Wherein, the method for determining a state observer according to the mathematical model and the measurement output anomaly vector includes: obtaining the measurement output abnormality vector, and determining a saturation function according to the measurement output abnormality vector; determining the state observer according to the saturation function and the state observation model of the mathematical model; Wherein, the state observer is determined according to the saturation function and the state observation model of the mathematical model, and its form is as follows:

in,

state

the estimated vector at time k;

state

The estimated vector at time k+1;

is the initial vector of the estimated vector; _Ke is the observer gain to be designed; σ( ):

is the saturation function; f( ):

is a nonlinear external disturbance function, E, D, B, N are real-valued matrices with appropriate dimensions; Wherein, the definition of the saturation function is:

in,

is in the set maximum vector

The set maximum value corresponding to the ith element of , where sign is the sign function; y _n is the measurement output of the sensor at time n;

The estimated vector at time n; N is a real-valued matrix of appropriate dimensions; the drilling platform dynamic system determines the driving of the offshore drilling platform based on the decoding vector corresponding to the orientation information at the second time. 7. An electronic device, characterized in that, comprising: processor; memory for storing processor-executable instructions; Wherein, the processor is configured to invoke the instructions stored in the memory to execute the positioning driving control method according to any one of claims 1 to 4. 8 . A computer-readable storage medium on which computer program instructions are stored, wherein the computer program instructions implement the positioning and driving control method according to any one of claims 1 to 4 when the computer program instructions are executed by a processor. 9 .

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