CN105045284A - Anti-interference drone path tracking control method - Google Patents
Anti-interference drone path tracking control method Download PDFInfo
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- CN105045284A CN105045284A CN201510537549.9A CN201510537549A CN105045284A CN 105045284 A CN105045284 A CN 105045284A CN 201510537549 A CN201510537549 A CN 201510537549A CN 105045284 A CN105045284 A CN 105045284A
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Abstract
" a kind of anti-interference unmanned vehicle path tracking control method " of the invention, a kind of anti-interference unmanned vehicle path tracking control method is provided, relative to the path tracking control method guided based on traditional vector field, this method has better robustness to external disturbance, belongs to automatic control technology field. The specific steps of which are as follows: step 1, given expectation pursuit gain: given desired plane path; Given desired speed. Step 2, does navigation calculate: desired course angle needed for calculating the error eliminated between desired locations and physical location
. Step 3, path trace course angle error calculation: the error between desired course angle and actual heading angle is calculated
. Step 4, sliding mode controller calculates: calculating and eliminates control amount needed for error between desired course angle and actual heading angle
.
Description
Technical field
The invention provides a kind of anti-interference unmanned vehicle path tracking control method, relative to the path tracking control method guided based on traditional vector field, this method to external world disturbance has better robustness, belongs to automatic control technology field.
Background technology
The tracing control of unmanned vehicle comprises Trajectory Tracking Control and path following control two kinds, is focus and the difficult point of current autonomous flight control research.Path trace problems mandate system convergence in given and irrelevant with time geometric path, and does at the uniform velocity or segmentation uniform motion.
It is theoretical etc. that the main method for designing of current path trace has Backstepping and guided paths to follow the tracks of, and wherein method of guidance comprises Line of Sight Guidance, coordinate transform guidance, vector field guidance etc.Vector field method of guidance adopts the method setting up vector field around track path to resolve expectation attitude, instead of follows the tracks of virtual point on expected path.Vector in can provide vectored flight device to tend to course angle information needed for expected path, and thus aircraft only need change self attitude and can follow the tracks of by realizing route.This aiming means can by space in control objectives and Time Decoupling, for follow-up developments leave possibility based on the control objectives (the collaborative networking as based on speeds control) of time controling item.
But traditional vector field guidance technology has certain limitation when processing and having the path trace problem of external disturbance.The generation of vector field vector angle is only relevant with the site error of aircraft, and when aircraft is subject to position disturbance, because position of aircraft error significant change does not occur, therefore vector field can not adjust the impact eliminating disturbance in time.
The present invention's " a kind of anti-interference unmanned vehicle path tracking control method ", on the basis that traditional vector field is guided, coal addition position error value product is itemized, and proposes the panel path tracking and controlling method based on integral vector field method of guidance.The method, by introducing error value product subitem, improves the robustness of path tracking algorithm to unknown disturbance.The closed-loop system controlled by the method is bounded stability, and has good convergence effect, and this is just for this unmanned vehicle provides effective design means having the path following control problem in disturbance situation.
Summary of the invention
(1) object: the object of the present invention is to provide a kind of anti-interference path tracking control method based on integral vector field guidance technology, control engineering teacher can realize the path following control of aircraft in unknown disturbance environment according to the method in conjunction with actual parameter.
(2) technical scheme: the present invention's " a kind of anti-interference unmanned vehicle path tracking control method ", its main contents and program are:
The expected path straight line of path trace can be approximately decomposed into parameterized straight line and circular arc.Panel path tracking based on integral vector field first utilizes integral vector field theory to set up navigation vector field in given expected path (comprising straight line and circular arc path) place plane, generates expected angle; Then utilize sliding mode control theory design path tracking control unit, make its tracking error in finite time, level off to zero.In practical application, the quantity of state such as position, attitude, speed of aircraft is obtained by airborne sensor measurements such as combined inertial nevigations, the controlled quentity controlled variable calculated is transferred to the panel path following function that the actuating unit such as steering wheel and engine can realize aircraft by the method.
The present invention's " a kind of anti-interference unmanned vehicle path tracking control method ", its concrete steps are as follows:
step onegiven expectation pursuit gain: given desired plane path; Given desired speed;
step 2navigation calculates: calculate the desired course angle needed for error of eliminating between desired locations and physical location
;
step 3path trace course angle error calculation: the error between calculation expectation course angle and actual heading angle
;
step 4sliding mode controller calculates: calculate the controlled quentity controlled variable eliminated between desired course angle and actual heading angle needed for error
.
wherein, described in step onegiven desired plane path is divided into straight line and two kinds, circular arc, and straight line path is determined by straight line and north orientation angle and path planning starting point coordinate, is denoted as
; Circle path is determined to be denoted as by home position and radius
.
describedgiven desired speed is
,
for constant,
for desired speed is along the decomposition amount of hull coordinate system.
wherein, described in step 2calculate the desired course angle needed for error of eliminating between desired locations and physical location
,
its computing method are as follows:
Straight line:
, wherein
for the angle, initial heading of setting,
for the site error between body and straight line path, can by path planning starting point coordinate
body position coordinates
with straight line path by straight line and north orientation angle
try to achieve,
for site error integration item,
for controling parameters;
for unmanned vehicle course angle, can by axis and north orientation angle
with linear position angle
try to achieve, namely
,
for determining the parameter of vector direction slewing rate in vector field;
Circular arc:
, wherein
for body position and expected path circle center line connecting and north orientation angle, can by body position
with expected path home position
try to achieve,
for the distance between body position and expected path,
for site error integration item,
for controling parameters;
for determining the parameter of vector direction slewing rate in vector field.
wherein, described in step 3path trace course angle error
,
its computing method are as follows:
Straight line:
Circular arc:
.
wherein, described in step 4eliminate the controlled quentity controlled variable needed for error between desired course angle and actual heading angle
,
its computing method are as follows:
Straight line:
Wherein, controling parameters
all be greater than 0, and meet
,
,
for arbitrary value;
Circle:
Wherein, controling parameters
all be greater than 0, and meet
,
,
for arbitrary value.
(3) advantage and effect:
The present invention's " a kind of anti-interference unmanned vehicle path tracking control method ", compared with the prior art, its advantage is:
1) the method directly to utilize around path virtual point on vector field instead of track path to carry out path trace, by time and space decoupling zero, can realize the control object of other and time correlation, as the collaborative flight under time-constrain;
2) the method can ensure the Asymptotic Stability performance of closed-loop system, and speed of convergence and sliding manifolds boundary layer thickness can regulate according to actual requirement;
3) the method is compared and traditional vector field method of guidance, adds site error integration item, adds the robustness of path following control algorithm to unknown disturbance;
4) the method adopts variable structure control algorithm, and structure is simple, and fast response time, is easy to Project Realization.
Control engineering teacher can to cruise path according to the given any desired of actual unmanned vehicle in application process, and the controlled quentity controlled variable calculated by the method is directly transferred to topworks's realizing route following function.
accompanying drawing illustrates:
Fig. 1 is control method FB(flow block) of the present invention;
Fig. 2 is vector field straight line path of the present invention navigation computational geometry graph of a relation;
Fig. 3 is vector field circular arc path of the present invention navigation computational geometry graph of a relation;
symbol description is as follows:
for straight line expected path planning initial point position;
for the current location of unmanned vehicle under inertial coordinates system;
expect straight line path and north orientation angle;
unmanned vehicle course angle;
unmanned vehicle desired course angle;
unmanned vehicle course angle error;
unmanned vehicle course angle speed;
unmanned vehicle speed in inertial system;
linear velocity under unmanned vehicle body axis system;
angular velocity under unmanned vehicle body axis system;
axis and north orientation angle;
infinite point course angle, vector field parameter is adjustable positive number;
circular arc path home position coordinate;
circular arc path radius;
body position and home position line and north orientation angle
body distance distance of center circle from.
embodiment:
Below in conjunction with accompanying drawing, each several part method for designing in the present invention is further described:
The present invention's " a kind of anti-interference unmanned vehicle path tracking control method ", as shown in Figure 1, concrete steps are as follows:
Step one: given expectation pursuit gain
1) with unmanned vehicle centre of buoyancy for initial point sets up hull coordinate system
; With any point on ground for initial point sets up inertial coordinates system
, wherein initial point
for ground any point,
point to north,
point to east,
point to the earth's core;
2) given desired plane path, comprises straight line and circular arc.Wherein, as shown in Figure 2, straight line path is by straight line and north orientation angle
with path planning starting point coordinate
determine, be denoted as
; As shown in Figure 3, circular arc path is by home position
with radius
determine, be denoted as
;
3) given desired speed
,
for constant,
for desired speed is along the decomposition amount of body axis system.In unmanned vehicle working environment, without vertical direction wind speed, horizontal wind speed is less, can be affected and ignore.Controlling unmanned vehicle forward speed in this method is definite value, thus for path trace in surface level, can think that satellite forward speed is equal with ground velocity, namely
.
Step 2: calculation expectation course angle
1) straight line path desired course angle calculates:
First, the site error of computer body distance straight line
, as shown in Figure 2
;
Then, given infinite point course angle
;
Finally, calculated line path desired course angle
;
2) circular arc path desired course angle calculates:
First, the site error in the computer body distance center of circle
, as shown in Figure 3,
;
Then, computer body position and home position line and north orientation coordinate axis
angle
, as shown in Figure 3,
;
Finally, circular arc path desired course angle is calculated
,
;
Step 3: calculating path follows the tracks of course angle error
1) for straight line path, course angle is axis
relative to the deflection angle of straight line, can by axis
with north orientation coordinate axis
angle
with linear position angle
try to achieve, namely
;
2) for circular arc path, course angle is axis
with north orientation coordinate axis angle
, can directly record;
3) the course angle error of straight line and circular arc path is asked respectively
:
Straight line:
Circle:
.
Step 4: design sliding formwork controllability path tracking control unit
1) for the unmanned vehicle being furnished with robot pilot, by making the kinetic model of its course angle control loop be expressed as follows to the coding of autopilot program:
Wherein,
for course angle control inputs,
for characterizing the parameter of this loop response speed;
2) for straight line path, a gliding model is adopted to ensure system path at Finite-time convergence to expected path:
Then have
Getting control item is
Wherein,
controling parameters is all greater than 0, and meets
,
,
for arbitrary value;
Design con-trol parameter according to the method described above, can ensure system stability;
3) for circular arc path, a gliding model is adopted to ensure system path at Finite-time convergence to expected path:
Then have
Getting control item is
Wherein,
controling parameters is all greater than 0, and meets
,
,
for arbitrary value.Design con-trol parameter according to the method described above, can ensure system stability.
Claims (5)
1. the present invention " a kind of anti-interference unmanned vehicle path tracking control method ", it is characterized in that, concrete steps are as follows:
step onegiven expectation pursuit gain: given desired plane path; Given desired speed;
step 2navigation calculates: calculate the desired course angle needed for error of eliminating between desired locations and physical location
;
step 3path trace course angle error calculation: the error between calculation expectation course angle and actual heading angle
;
step 4sliding mode controller calculates: calculate the controlled quentity controlled variable eliminated between desired course angle and actual heading angle needed for error
.
2. the anti-interference unmanned vehicle path tracking control method of one according to claim 1, is characterized in that:
Given desired plane path described in step one is divided into straight line and two kinds, circular arc, and straight line path is determined by straight line and north orientation angle and path planning starting point coordinate, is denoted as
; Circle path is determined to be denoted as by home position and radius
;
Described given desired speed is
,
for constant,
for desired speed is along the decomposition amount of hull coordinate system.
3. the anti-interference unmanned vehicle path tracking control method of one according to claim 1, is characterized in that:
The desired course angle needed for error between desired locations and physical location is eliminated in calculating described in step 2
,
its computing method are as follows:
Straight line:
, wherein
for the angle, initial heading of setting,
for the site error between body and straight line path, can by path planning starting point coordinate
body position coordinates
with straight line path by straight line and north orientation angle
try to achieve,
for site error integration item,
for controling parameters;
for unmanned vehicle course angle, can by axis and north orientation angle
with linear position angle
try to achieve, namely
,
for determining the parameter of vector direction slewing rate in vector field;
Circular arc:
, wherein
for body position and expected path circle center line connecting and north orientation angle, can by body position
with expected path home position
try to achieve,
for the distance between body position and expected path,
for site error integration item,
for controling parameters;
for determining the parameter of vector direction slewing rate in vector field.
4. the anti-interference unmanned vehicle path tracking control method of one according to claim 1, is characterized in that:
described in step 3path trace course angle error
,
its computing method are as follows:
Straight line:
;
Circular arc:
.
5. the anti-interference unmanned vehicle path tracking control method of one according to claim 1, is characterized in that:
Controlled quentity controlled variable needed for error between the elimination desired course angle described in step 4 and actual heading angle
,
its computing method are as follows:
Straight line:
Wherein, controling parameters
all be greater than 0, and meet
,
,
for arbitrary value;
Circle:
Wherein, controling parameters
all be greater than 0, and meet
,
,
for arbitrary value.
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Cited By (10)
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|---|---|---|---|---|
| CN107703973A (en) * | 2017-09-11 | 2018-02-16 | 广州视源电子科技股份有限公司 | Trace tracking method, device |
| CN107992069A (en) * | 2017-11-29 | 2018-05-04 | 上海无线电设备研究所 | A kind of Design of Guidance Law method of unmanned plane path following control |
| CN108417096A (en) * | 2018-02-01 | 2018-08-17 | 四川九洲电器集团有限责任公司 | A kind of state of flight appraisal procedure and system |
| CN108845588A (en) * | 2018-06-22 | 2018-11-20 | 哈尔滨工业大学 | A kind of quadrotor Trajectory Tracking Control method based on Nonlinear Guidance |
| CN109375643A (en) * | 2018-10-24 | 2019-02-22 | 中北大学 | The more quadrotors face-off tracking goal direct rule formed into columns based on navigator-trailing type triangle |
| CN109708639A (en) * | 2018-12-07 | 2019-05-03 | 湖北航天飞行器研究所 | The flat lateral guidance instruction generation method for flying tracking straight line and circular arc path of aircraft |
| CN110488875A (en) * | 2019-09-02 | 2019-11-22 | 中国人民解放军海军航空大学 | Unmanned plane based on dynamic inverse tracks target initial segment course error modification method |
| CN113176788A (en) * | 2021-04-27 | 2021-07-27 | 北京理工大学 | Aircraft path tracking method based on variable forward distance LOS guidance law |
| CN113219970A (en) * | 2021-04-23 | 2021-08-06 | 大连海事大学 | Unmanned ship vector field path tracking controller and design method |
| CN113495571A (en) * | 2021-07-26 | 2021-10-12 | 中国人民解放军63629部队 | Aircraft path tracking method, apparatus, device and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107703973A (en) * | 2017-09-11 | 2018-02-16 | 广州视源电子科技股份有限公司 | Trace tracking method, device |
| CN107992069B (en) * | 2017-11-29 | 2021-01-19 | 上海无线电设备研究所 | Guidance law design method for unmanned aerial vehicle path tracking control |
| CN107992069A (en) * | 2017-11-29 | 2018-05-04 | 上海无线电设备研究所 | A kind of Design of Guidance Law method of unmanned plane path following control |
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| CN108845588A (en) * | 2018-06-22 | 2018-11-20 | 哈尔滨工业大学 | A kind of quadrotor Trajectory Tracking Control method based on Nonlinear Guidance |
| CN108845588B (en) * | 2018-06-22 | 2021-05-07 | 哈尔滨工业大学 | Trajectory tracking control method of four-rotor aircraft based on nonlinear guidance |
| CN109375643A (en) * | 2018-10-24 | 2019-02-22 | 中北大学 | The more quadrotors face-off tracking goal direct rule formed into columns based on navigator-trailing type triangle |
| CN109375643B (en) * | 2018-10-24 | 2021-06-25 | 中北大学 | Multi-four-rotor-confrontation tracking target guidance law based on piloting-following type triangular formation |
| CN109708639A (en) * | 2018-12-07 | 2019-05-03 | 湖北航天飞行器研究所 | The flat lateral guidance instruction generation method for flying tracking straight line and circular arc path of aircraft |
| CN109708639B (en) * | 2018-12-07 | 2022-11-22 | 湖北航天飞行器研究所 | Method for generating lateral guidance instruction of aircraft for tracking straight line and circular arc path in flat flight |
| CN110488875A (en) * | 2019-09-02 | 2019-11-22 | 中国人民解放军海军航空大学 | Unmanned plane based on dynamic inverse tracks target initial segment course error modification method |
| CN113219970A (en) * | 2021-04-23 | 2021-08-06 | 大连海事大学 | Unmanned ship vector field path tracking controller and design method |
| CN113219970B (en) * | 2021-04-23 | 2023-11-03 | 大连海事大学 | Unmanned ship vector field path tracking controller and design method |
| CN113176788A (en) * | 2021-04-27 | 2021-07-27 | 北京理工大学 | Aircraft path tracking method based on variable forward distance LOS guidance law |
| CN113495571A (en) * | 2021-07-26 | 2021-10-12 | 中国人民解放军63629部队 | Aircraft path tracking method, apparatus, device and medium |
| CN113495571B (en) * | 2021-07-26 | 2024-02-27 | 中国人民解放军63629部队 | Aircraft path tracking method, device, equipment and medium |
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