CN105045284B - A kind of anti-interference unmanned vehicle path tracking control method - Google Patents
A kind of anti-interference unmanned vehicle path tracking control method Download PDFInfo
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- CN105045284B CN105045284B CN201510537549.9A CN201510537549A CN105045284B CN 105045284 B CN105045284 B CN 105045284B CN 201510537549 A CN201510537549 A CN 201510537549A CN 105045284 B CN105045284 B CN 105045284B
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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, gives expectation pursuit gain: given desired plane path；Given desired speed.Step 2, navigation calculate: desired course angle needed for calculating the error eliminated between desired locations and physical location.Path trace course angle error calculation: step 3 calculates the error between desired course angle and actual heading angle.Step 4, sliding mode controller calculate: calculating and eliminate control amount needed for error between desired course angle and actual heading angle。
Description
Technical field
The present invention provides a kind of anti-interference unmanned vehicle path tracking control method, relative to based on traditional vector field system
The path tracking control method led, this method have better robustness to external disturbance, belong to automatic control technology field.
Background technique
The tracing control of unmanned vehicle includes Trajectory Tracking Control and two kinds of path following control, is current autonomous flight
Control the hot and difficult issue of research.Path trace problem requires system convergence to geometric path that is given and being unrelated with the time
On, and do at the uniform velocity or be segmented uniform motion.
The main design method of path trace at present has Backstepping and guided paths tracking theory etc., wherein method of guidance packet
Include Line of Sight Guidance, coordinate transform guidance, vector field guidance etc..Vector field method of guidance uses and establishes vector around track path
The method of field resolves expectation posture, rather than tracks virtual point on expected path.Vector in is capable of providing vectored flight device
Course angle information needed for tending to expected path, thus aircraft need to only change itself posture that path trace can be realized.It is this
Aiming means can be by space and Time Decoupling in control target, (such as control target of the follow-up developments based on time control item
Collaboration networking based on speed control) leave possibility.
However, traditional vector field guidance technology is when handling the path trace problem with external disturbance with certain
Limitation.Generating for vector field vector angle is only related with the location error of aircraft, when aircraft is by position disturbance, by
Significant change does not occur in position of aircraft error, therefore vector field cannot be adjusted in time to eliminate the influence of disturbance.
" a kind of anti-interference unmanned vehicle path tracking control method " of the invention, on the basis of traditional vector field guidance
On, coal addition position error value product subitem proposes the panel path tracking and controlling method based on integral vector field method of guidance.The party
Method improves path tracking algorithm to the robustness of unknown disturbance by introducing error value product subitem.The closed loop controlled by this method
System is bounded stability, and has good convergence effect, this is just road of the unmanned vehicle when having disturbance
Diameter tracking control problem provides effective design means.
Summary of the invention
(1) purpose: the purpose of the present invention is to provide a kind of anti-interference path based on integral vector field guidance technology with
Track control method, control engineer can in the method and combination actual parameter realizes aircraft in unknown disturbance environment
Path following control.
(2) technical solution: " a kind of anti-interference unmanned vehicle path tracking control method " of the invention, main contents
And program is:
The expected path straight line of path trace can be approximately decomposed into the straight line and circular arc of parametrization.Based on integral vector field
Panel path tracking first with integral vector field theory where the given expected path (including straight line and circular arc path)
Plane establishes navigation vector field, generates expected angle；Then utilize sliding mode control theory design path tracking control unit, make its with
Track error levels off to zero in finite time.In practical application, the quantity of states such as position, posture, speed of aircraft are used by combining
It leads equal airborne sensors measurement to obtain, the control amount being calculated by this method is transmitted to the executive devices such as steering engine and engine
The panel path following function of aircraft can be realized.
" a kind of anti-interference unmanned vehicle path tracking control method " of the invention, the specific steps of which are as follows:
The given expectation pursuit gain of step 1: given desired plane path；Given desired speed；
Step 2 navigation calculates: 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 needed for error between desired course angle and actual heading angle
Amount。
Wherein, it is divided into straight line and two kinds of circular arc in given desired plane path described in step 1, straight line path is by straight
Line and north orientation angle and planning path starting point coordinate determine, are denoted as；Circle path is true with radius by center location
Surely it is denoted as.The given desired speed is,For constant,It is desired speed along the decomposition amount of hull coordinate system.
Wherein, expectation needed for the error between desired locations and physical location is eliminated in the calculating described in step 2 is navigated
To angle, calculation method is as follows:
Straight line:, whereinFor the initial heading angle of setting,For machine
Location error between body and straight line path, can be by planning path starting point coordinateBody position coordinatesWith straight line path by straight line and north orientation angleIt acquires,For location error integral
,For control parameter；It, can be by axis and north orientation angle for unmanned vehicle course angleWith linear position angle
It acquires, i.e.,,For the parameter for determining vector direction conversion speed in vector field；
Circular arc:, whereinFor body position and the expected path center of circle
Line and north orientation angle, can be by body positionWith expected path center locationIt acquires,For the distance between body position and expected path,For location error integral term,For control parameter；For the parameter for determining vector direction conversion speed in vector field.
Wherein, the path trace course angle error described in step 3, calculation method is as follows:
Straight line:
Circular arc:。
Wherein, control amount needed for the error eliminated between desired course angle and actual heading angle described in step 4, calculation method is as follows:
Straight line:
Wherein, control parameterIt is all larger than 0, and is met,,For arbitrary value；
Circle:
Wherein, control parameterIt is all larger than 0, and is met,,For arbitrary value.
(3) advantage and effect:
" a kind of anti-interference unmanned vehicle path tracking control method " of the invention, compared with the prior art, its advantage is that:
1) directly virtual point carries out path trace to this method using vector field around path rather than on track path, by when
Between with it is spatially decoupled, it can be achieved that other and time correlation control purpose, such as under time-constrain collaboration flight；
2) this method can guarantee the Asymptotic Stability performance of closed-loop system, and convergence rate and sliding manifolds boundary layer thickness
It can be adjusted according to actual requirement；
3) this method compare with traditional vector field method of guidance, increase location error integral term, increase path trace
Robustness of the control algolithm to unknown disturbance；
4) this method uses variable structure control algorithm, and structure is simple, and fast response time is easy to Project Realization.
Any desired cruise path can be given according to practical unmanned vehicle in application process by controlling engineer, and will
Executing agency's realizing route following function is directly transferred to by the control amount that this method is calculated.
Detailed description of the invention:
Fig. 1 is control method flow diagram of the present invention；
Fig. 2 is vector field straight line path of the present invention navigation computational geometry relational graph；
Fig. 3 is vector field circular arc path of the present invention navigation computational geometry relational graph；
Symbol description is as follows:
Initial point position is planned for straight line expected path；
For current location of the unmanned vehicle under inertial coodinate system；
It is expected that straight line path and north orientation angle；
Unmanned vehicle course angle；
Unmanned vehicle desired course angle；
Unmanned vehicle course angle error；
Unmanned vehicle course angular speed；
Unmanned vehicle speed in inertial system；
Linear velocity under unmanned vehicle body coordinate system；
Angular speed under unmanned vehicle body coordinate system；
Axis and north orientation angle；
Infinite point course angle, vector field parameters, for positive number is adjusted；
Circular arc path center location coordinate；
Circular arc path radius；
Body position and center location line and north orientation angle
Body is apart from circle center distance.
Specific embodiment:
With reference to the accompanying drawing, each section design method in the present invention is further described:
" a kind of anti-interference unmanned vehicle path tracking control method " of the invention, as shown in Figure 1, the specific steps are as follows:
Step 1: given expectation pursuit gain
1) hull coordinate system is established by origin of unmanned vehicle centre of buoyancy；It is established by origin of any point on ground
Inertial coodinate system, wherein originFor ground any point,North is directed toward,East is directed toward,Refer to
To the earth's core；
2) desired plane path, including straight line and circular arc are given.Wherein, as shown in Fig. 2, straight line path is by straight line and north orientation
AngleWith planning path starting point coordinateIt determines, is denoted as；As shown in figure 3, circular arc path is by the center of circle
PositionWith radiusIt determines, is denoted as；
3) desired speed is given,For constant,For desired speed
Along the decomposition amount of body coordinate system.In unmanned vehicle working environment, no vertical direction wind speed, horizontal wind speed is smaller, can incite somebody to action
Its influence is ignored.It is definite value that unmanned vehicle forward speed is controlled in this method, thus for path trace in horizontal plane, it can recognize
It is equal with ground velocity for satellite forward speed, i.e.,。
Step 2: desired course angle is calculated
1) straight line path desired course angle calculates:
Firstly, location error of the computer body apart from straight line, as shown in Figure 2；
Then, infinite point course angle is given；
Finally, calculating straight line path desired course angle；
2) circular arc path desired course angle calculates:
Firstly, location error of the computer body apart from the center of circle, as shown in figure 3,；
Then, computer body position and center location line and north orientation reference axisAngle, as shown in figure 3,；
Finally, calculating circular arc path desired course angle,；
Step 3: path trace course angle error is calculated
1) for straight line path, course angle is axisIt, can be by axis relative to the deflection angle of straight lineWith
North orientation reference axisAngleWith linear position angleIt acquires, i.e.,；
2) for circular arc path, course angle is axisWith north orientation reference axis angle, can directly measure；
3) the course angle error of straight line and circular arc path is sought respectively:
Straight line:
Circle:。
Step 4: design sliding formwork control path following control device
1) for being furnished with the unmanned vehicle of automatic pilot, its course angle control can be made by the coding to autopilot program
The kinetic model in circuit processed is expressed as follows:
Wherein,It controls and inputs for course angle,For the parameter for characterizing the loop response speed；
2) for straight line path, guarantee system path in Finite-time convergence to desired road using a gliding model
Diameter:
Then have
The control item is taken to be
Wherein,Control parameter is all larger than 0, and meets,,For arbitrary value；
Control parameter is designed according to the method described above, it is ensured that system stability；
3) for circular arc path, guarantee system path in Finite-time convergence to expectation using a gliding model
Path:
Then have
The control item is taken to be
Wherein,Control parameter is all larger than 0, and meets,,For arbitrary value.Control parameter is designed according to the method described above, it is ensured that system stability.
Claims (3)
1. a kind of anti-interference unmanned vehicle path tracking control method, which is characterized in that specific step is as follows:
The given expectation pursuit gain of step 1: given desired plane path；Given desired speed；
Step 2 navigation calculates: desired course angle χ needed for calculating the error eliminated between desired locations and physical locationd, meter
Calculation method is as follows:
Straight line:Wherein χ∞For infinite point course angle, vector field parameters are adjustable
Positive number；Location error between body and straight line path, by planning path starting point coordinate P0=[x0 y0]TWith body position
Set coordinate P=[x y]TBetween straight line path acquired with north orientation angle ξ,For straight line path track position error integral compensation
,For its first derivative, σ > 0 is control parameter；χ be unmanned vehicle course angle, by axis with
North orientation angle ζ is acquired with linear position angle ξ, i.e. χ=ζ-ξ, and k > 0 is the parameter for determining vector direction conversion speed in vector field；
VgFor unmanned vehicle speed in inertial system；
Circular arc:Wherein λ is that body position and expected path circle center line connecting and north orientation press from both sides
Angle, by body position Po=[xo yo] and expected path center location Pc=[xc yc] acquire,For body position and phase
Hoping the distance between path, d is body apart from circle center distance, and R is circular arc path radius,For circular arc path tracing positional mistake
Difference-product divides compensation term,For its first derivative；
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 χ needed for error between desired course angle and actual heading anglec,
Calculation method is as follows: straight line:
Wherein, control parameter α, κ, ε are all larger than 0, and meet For arbitrary value；
Circle:
Wherein, control parameter meets For arbitrary value.
2. a kind of anti-interference unmanned vehicle path tracking control method according to claim 1, it is characterised in that:
Given desired plane path described in step 1 is divided into straight line and two kinds of circular arc, and straight line path is by straight line and north orientation angle
It is determined with planning path starting point coordinate, is denoted as pl(x0,y0,ξ)；Circle path is determined by center location and radius is denoted as po(x0,
y0,R)；The given desired speed is υc=[uc,vc,wc]T=[C, 0,0]T, C > 0 is constant, uc,vc,wcFor expectation speed
Spend the decomposition amount along hull coordinate system.
3. a kind of anti-interference unmanned vehicle path tracking control method according to claim 1, it is characterised in that:
Path trace course angle error described in step 3Its calculation method is as follows:
Straight line:
Circular arc:
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| CN107703973B (en) * | 2017-09-11 | 2021-08-31 | 广州视源电子科技股份有限公司 | Trajectory tracking method and 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| CN110488875B (en) * | 2019-09-02 | 2022-07-12 | 中国人民解放军海军航空大学 | Course error correction method for target tracking initial section of unmanned aerial vehicle based on dynamic inversion |
| CN113219970B (en) * | 2021-04-23 | 2023-11-03 | 大连海事大学 | Unmanned ship vector field path tracking controller and design method |
| CN113176788B (en) * | 2021-04-27 | 2022-08-16 | 北京理工大学 | Aircraft path tracking method based on variable forward distance LOS guidance law |
| 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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