CN106896817A - A kind of many AUV formation control methods based on viscous damping mode - Google Patents
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Abstract
The present invention discloses a kind of many AUV formation control methods based on viscous damping mode.Invention simulation viscous damping mode this physical model, AUV in formation is considered as the mass connected with virtual spring, formation control rule is obtained by the situation of the suffered fictitious force of analysis, it is adaptable to communicate under constrained environment, many AUV formation controls based on ranging information.The invention mainly comprises：Rule of communication between AUV, the AUV formation controls rule based on viscous damping mode, the condition that should meet of Reasonable Parameters in formation control rule, and between AUV relative direction information and range information real-time estimating method.Many AUV form into columns under the present invention is applied to communication confined condition, and required communication information amount is small during course under water, and convergence of forming into columns is fast, it is easy to promote.
Description
Technical field
The present invention relates to underwater robot technical field, specifically a kind of many AUV formation control methods based on viscous damping mode.
Background technology
AUV work compounds are the study hotspots in current underwater robot field.Compared to separate unit AUV, the system of many AUV work compounds can realize Task-decomposing, so as to cover wide space, work capacity is stronger, all have wide application prospects in the exploration of such as seabed resources, sea-floor relief detection and maritime operations field.
AUV formation controls are a basic problems of AUV work compounds, and many AUV work compounds tasks are completed on the basis of AUV formation.Limited by underwater environment, AUV form into columns required for information, such as position of other carriers, speed of a ship or plane information, and the more difficult acquisition of relative direction information between AUV, and it is often higher to obtain the time delay of these information, and reliability is poor.But the distance between AUV information is easier to obtain, and delay is shorter, and reliability is higher.Therefore the formation control between many AUV of ranging information completion can be based on.
The content of the invention
For enable AUV communication is limited (can frequent Perodic ranging between carrier, but can not frequently send itself speed of a ship or plane course information) under conditions of can form expectation formation, and maintain to expect that formation is navigated by water, the technical problem to be solved in the present invention is this physical model of reference viscous damping mode, there is provided a kind of many AUV formation control methods based on viscous damping mode.
The technical scheme that is used to achieve the above object of the present invention is：A kind of many AUV formation control methods based on viscous damping mode, comprise the following steps：
AUV in initialization formation；
The distance between AUV information is measured using the distance measurement function of underwater acoustic communication set, the pilotage people in AUV broadcasts itself speed and directional information to follower；
AUV completes the reckoning and the reckoning of relative distance information to relative position information according to ranging information
The spring damping quality block models that many AUV form into columns are set up according to viscous damping mode, provide the expectation speed of a ship or plane and desired course required for the follower in AUV completes formation or maintains formation, it is mapped as promoting mainly the control signal of motor and rudder motor, control follower completes to form into columns.
AUV in the initialization formation, comprises the following steps：
Three AUV in formation, one of them is specified for pilotage people L in initial time, and two other is follower F1And F2；
Three AUV float up to sea in initial time, use carried GPS to obtain respective positional information；
Pilotage people L uses carried radio communication equipment to follower F1、F2Self-position and speed of a ship or plane course information are sent, two follower use carried radio communication equipment to send respective positional information mutually；
Follower assigns initial value according to the pilotage people's positional information for obtaining and the positional information of another follower to the carrier directional information estimator and range information estimator of itself；
Three AUV dives to same depth starts depth-keeping navigation, and now pilotage people broadcasts the once speed of a ship or plane and course information of itself to two follower.
The distance between the distance measurement function measurement AUV of utilization underwater acoustic communication set information, specially：Two follower send distance measuring signal to pilotage people and another follower successively using the distance measurement function of underwater acoustic communication set, update apart from pilotage people and the range information of another follower.
The distance between the distance measurement function measurement AUV of utilization underwater acoustic communication set information, including the following steps for circulating：
Follower F1Distance measuring signal is sent to pilotage people L, range information is obtained | F1L|；
Follower F1To follower F2Distance measuring signal is sent, range information is obtained | F1F2|；
Follower F2Distance measuring signal is sent to pilotage people L, range information is obtained | F2L|；
Follower F2To follower F1Distance measuring signal is sent, range information is obtained | F2F1|。
Pilotage people in the AUV broadcasts itself speed and directional information to follower, specially：
Pilotage people broadcasts once itself speed of a ship or plane and course information to follower at regular intervals；Or,
Pilotage people just broadcasts itself speed of a ship or plane and course information in the case where the path point of tracking changes.
The AUV provides the expectation speed of a ship or plane and desired course that follower completes to form into columns or maintain formation to need according to ranging information and directional information, specially：
After elapsed time Δ t, next cycle follower FiThe expectation speed of a ship or plane for vectorModulus value, desired course for vectorDeflection, and vectorMeet：
In formula,It is follower FiSpeed, virtual accelerationProduced by the elastic force of virtual spring, follower FiBy virtual spring F1F2And FiL produce make a concerted effort effect, and resistance produced by resisting medium effect, respectively：
In formula, k is the coefficient of elasticity of spring, and c is damped coefficient, and | DD | is desired distance, D between two followeriL is to represent follower FiDesired distance between the mass of (i=1,2) and the mass for representing pilotage people L,It is resisting medium and the relative velocity of mass, because resisting medium is all v with pilotage people's speedl,
Therefore making a concerted effort suffered by mass is：
It can thus be appreciated that：
The AUV completes the reckoning to relative distance information according to ranging information, specially：
Wherein, | F1F2|t+ Δ tIt is the distance between follower of t+ Δs t two, | F1F2|tIt is the distance between follower of t two, Δ | F1F2|tIt is the difference of actual range and desired distance between the follower of t two, | FiL|t + Δ tIt is t+ Δ t follower FiThe distance between (i=1,2) and pilotage people L, | FiL|tIt is t follower FiThe distance between (i=1,2) and pilotage people L, Δ | FiL|tIt is t follower Fi(i=1,2) difference of actual range and desired distance and pilotage people L between, Δ t is elapsed time, and k uses empirical value, takes certain number between 0.1-0.5.
The viscous damping mode is：When thinking that distance meets expectation between AUV, virtual spring is not deformed upon；From energy point of view, should be by mass, elastic potential energy of the model that spring and damper are constituted in whole energy that initial time has stored by the initial kinetic energy and deformation spring of mass, damper does negative work to mass in whole vibration processes, consumed energy, elastic potential energy and the equal vanishing of kinetic energy that final whole model has, that is, converge on spring and elastically-deformable state do not occur.
The spring damping quality block models that many AUV form into columns are：Think that the AUV in forming into columns is the mass connected by spring, damping is produced by with pilotage people with the resisting medium of speed.Regulation spring does not occur flight pattern during elastic deformation, and to expect formation, then mass vibrates in the presence of spring force and resistance, and finally converges on expectation formation.
The present invention has advantages below and beneficial effect：
1st, this method completes to form into columns according to ranging information, and required communication information amount is few, is suitable for many AUV formation controls communicated under restrictive condition.
2nd, the formation control rule that this method is studied is that simulation viscous damping mode this ripe physical model is obtained, parameter in control rule can be selected according to the feature of viscous damping mode, without taking empirical value by many experiments, in this way it is easy to determine relatively more rational parameter.
Brief description of the drawings
Fig. 1 is formation schematic diagram of the invention；
Fig. 2 is workflow diagram of the invention.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention is described in further detail.
The present invention is by distance, direction estimation device between the direction controller and carrier in three AUV, operation and AUV control computers, and the GPS and navigation system, the equipment such as radio communication equipment and underwater acoustic communication set composition carried on AUV, specifically needs following equipment：
There is the underwater acoustic communication set of distance measurement function：It is installed on AUV, for underwater human world Perodic ranging, and aperiodically sends itself speed of a ship or plane, course information.
Control computer：For monitor in real time AUV posture informations, relative direction information between AUV is calculated, range information and directional information between AUV are calculated in real time, and AUV is provided according to range information between AUV and directional information control and expect the speed of a ship or plane and desired course.AUV is expected that the speed of a ship or plane and desired course are mapped as the control signal of propeller and rudder.
The navigating power equipment such as propeller, rudder：AUV motions are driven to complete to form into columns.
Position and attitude sensor：Obtain AUV itself speed of a ship or plane, course information
GPS：When all AUV of initial time are on the water surface, the positional information of AUV is obtained
Radio communication equipment：When initial time AUV does not have dive, respective positional information is sent to other AUV.
The definition of formation and related physical quantity is as shown in Figure 1.
As shown in Fig. 2 three AUV of initial time complete preparation in the water surface, then AUV dives are to same depth depth-keeping navigation for formation control process.After AUV depth-keeping navigations formation is completed using the formation control rule control carrier based on viscous damping model.Carrier uses the distance measurement function Perodic ranging of underwater acoustic communication set, and estimates real-time directional information and range information between carrier, according to the expectation speed of a ship or plane and desired course of this information according to needed for formation control rule obtains completing to form into columns.To expect that the speed of a ship or plane, course complete to form into columns after being mapped as promoting mainly the control information of motor and rudder motor.
1st step：Complete preparation
Three AUV in formation, specify one of them for pilotage people in initial time, and two other is follower.
Three AUV float up to sea in initial time, use carried GPS to obtain respective positional information；
Pilotage people uses carried radio communication equipment to send self-position and speed of a ship or plane course information to follower, and two follower use carried radio communication equipment to send respective positional information mutually；
Follower assigns initial value according to the pilotage people's positional information for obtaining and the positional information of another follower to the carrier directional information estimator and range information estimator of itself；
Three AUV dives to same depth starts depth-keeping navigation, and now pilotage people broadcasts the once speed of a ship or plane and course information of itself to two follower.
2nd step：Complete range finding work
Two follower send distance measuring signal to pilotage people and another follower successively using the distance measurement function of underwater acoustic communication set, update apart from pilotage people and the range information of another follower.Specifically include four steps, the first step, follower F1Measurement distance | F1L|；Second step, follower F1Measurement distance | F1F2|；3rd step, follower F2Measurement distance | F2L|；4th step, follower F2Measurement distance | F2F1|.The step of the above four is a cycle, and each cycle takes about 20s, circulates this process.
Every 5 minutes of pilotage people broadcast once itself speed of a ship or plane and course signal, or only in the case where path point changes broadcast once itself speed of a ship or plane and course information.
3rd step：Heading control computer provides the expectation speed of a ship or plane and desired course formed into columns and need according to range information and directional information, if the cycle of calling of control algolithm is Δ t, next cycle follower FiThe expectation speed of a ship or plane be：
In formula,It is follower FiSpeed, virtual accelerationProduced by the elastic force of virtual spring, force analysis, follower FiBy virtual spring FF and FLiProduce make a concerted effort effect, and resistance produced by resisting medium effect, respectively：
In formula, k is the coefficient of elasticity of spring, and c is damped coefficient.It is resisting medium and the relative velocity of mass, because resisting medium is all v with pilotage people's speedl, so
Therefore making a concerted effort suffered by mass is：
It can thus be appreciated that：
4th step：Course information and positional information are updated by estimating
Due to follower FiRange information can only be measured | F1F2| and | FiL |, and required direction vector can not be measuredWithSo needing design direction estimator.In initial time, follower can obtain two position P of followerFi(i=1,2) and pilotage people position PL, the desired speed of all carriers of next cycle can be obtained accordingly, and then its new position is obtained, this process of repetition obtains the estimate of each cycle all carrier positions：
According to the positional information calculation unit vector for calculating:
In formula, PFiExpression needs the position of the follower for estimating directional information,Represent the position of another follower.
Direction estimation device is an estimator for open loop, and error can add up.A solution is the carrier broadcast own location information after the long period, and estimator is modified.Because this controller is less demanding to direction precision of information in itself, this estimator can meet requirement.
Propagated under water in the presence of delay due to acoustical signal, it is impossible to real-time range information is provided, it is therefore desirable to designed distance estimator, according to follower's speedAnother follower's desired speedWith pilotage people's speedObtain next periodic distance estimate：
Because carrier can periodically measure range information, it is ensured that the accuracy of direction estimation device information.
Relative distance information and relative position information that the AUV is obtained according to reckoning, provide the expectation speed of a ship or plane and desired course needed for completing or maintaining formation, specially：
Viscous damping mode is applied in the underwater multi-robot formation control based on range finding first, it is believed that when distance meets expectation between carrier, virtual spring is not deformed upon.The model is analyzed from energy point of view, in initial time, elastic potential energy of the energy that system has stored by the initial kinetic energy and deformation spring of mass, damper does negative work to mass in whole vibration processes, consumed energy, the equal vanishing of elastic potential energy and kinetic energy of final system, that is, converge on spring and elastically-deformable state do not occur.In this model, the effect that spring force suffered by mass and damper resistance are made a concerted effort is：
F=kx+cv (7)
The system kinematics equation is：
In formula, k is the elastic coefficient, and x is that quality is the displacement of the mass of m, and c is the damped coefficient of damper, and v is the speed of mass.
According to this model, the spring damping quality block models that many AUV form into columns are set up.Think that the carrier in forming into columns is the mass connected by spring, damping is produced by with pilotage people with the resisting medium of speed.Regulation spring does not occur flight pattern during elastic deformation, and to expect formation, then mass vibrates in the presence of spring force and resistance, and finally converges on expectation formation.
And then force analysis, speed is vfiFollower FiBy spring FF and FLiProduce make a concerted effort effect, and resistance produced by resisting medium effect, respectively：
In formula, k is the coefficient of elasticity of spring, and c is damped coefficient.It is resisting medium and the relative velocity of mass, because resisting medium is all v with pilotage people's speedl, so
Therefore making a concerted effort suffered by mass is：
If the cycle of calling of control algolithm is Δ t, the desired speed of next cycle follower is：
Finally determine used parameter in formation control method：The design simulation spring damping quality block models of controller, therefore amount in controller has the physical significance of determination.Its influence to forming into columns can be determined according to physical model, and by being calculated parameter, and without selecting experience value.In controller noted above it needs to be determined that parameter have the quality m, the coefficient of elasticity k and damped coefficient c of spring of mass.Influences of the quality m to systematic function can be reflected by adjusting two other parameter k and c, therefore take m=1 with Simplified analysis, now model is analyzed, along spring FLiVibration with FF is：
ΣMFLi=MFLi+MFF·cosθi (16)
ΣMFF=MFF+MFL1·cosθ1+MFL2·cosθ2 (17)
MFLiIt is by spring FLiProduced vibration, MFFIt is the vibration as produced by spring FF.Analysis MFLi, pilotage people do not drive by virtual elastic force, is considered as static, then follower is along FLiStress be：
Meet classical viscous damping model, due to m=1, therefore：
Thus two parameter intrinsic frequencies are obtained and damping ratio is respectively
And the solution of the equation of motion
X (t)=e-ct/2f(·) (22)
As ξ ＜ 1, system is underdamping state, vibration convergence, and when ξ >=1, system is critical damping or overdamping state, slow but smooth convergence.The control signal be given by system top level control device should try one's best and smooth, and to facilitate next controller to adjust, therefore critical damping even underdamping state, i.e. parameter should be kept to meet：
Same analysis MFF, the equation of motion is：
The solution of the equation of motion is：
X (t)=e-tc/2f(·) (25)
Parameter should meet when vibrating for critical damping or even overdamp
It follows that vibration MFLiAnd MFFConvergence rate is consistent, illustrates along the vibration Σ M of each springFLiWith Σ MFFConvergence rate does not receive overlaying influence, and only relevant with c.But Σ MFLiWith Σ MFFConverging form influenceed by being superimposed.When component is underdamping state, output smoothing, therefore k, c should meet simultaneously：
。
Claims (9)
1. a kind of many AUV formation control methods based on viscous damping mode, it is characterised in that comprise the following steps：
AUV in initialization formation；
The distance between AUV information is measured using the distance measurement function of underwater acoustic communication set, the pilotage people in AUV broadcasts itself speed and directional information to follower；
AUV completes the reckoning and the reckoning of relative distance information to relative position information according to ranging information
The spring damping quality block models that many AUV form into columns are set up according to viscous damping mode, provide the expectation speed of a ship or plane and desired course required for the follower in AUV completes formation or maintains formation, it is mapped as promoting mainly the control signal of motor and rudder motor, control follower completes to form into columns.
2. a kind of many AUV formation control methods based on viscous damping mode according to claim 1, it is characterised in that the initialization form into columns in AUV, comprise the following steps：
Three AUV in formation, one of them is specified for pilotage people L in initial time, and two other is follower F1And F2；
Three AUV float up to sea in initial time, use carried GPS to obtain respective positional information；
Pilotage people L uses carried radio communication equipment to follower F1、F2Self-position and speed of a ship or plane course information are sent, two follower use carried radio communication equipment to send respective positional information mutually；
Follower assigns initial value according to the pilotage people's positional information for obtaining and the positional information of another follower to the carrier directional information estimator and range information estimator of itself；
Three AUV dives to same depth starts depth-keeping navigation, and now pilotage people broadcasts the once speed of a ship or plane and course information of itself to two follower.
3. a kind of many AUV formation control methods based on viscous damping mode according to claim 1, it is characterised in that the distance between distance measurement function measurement AUV of utilization underwater acoustic communication set information, specially：Two follower send distance measuring signal to pilotage people and another follower successively using the distance measurement function of underwater acoustic communication set, update apart from pilotage people and the range information of another follower.
4. a kind of many AUV formation control methods based on viscous damping mode according to claim 3, it is characterised in that the distance between distance measurement function measurement AUV of utilization underwater acoustic communication set information, including circulation following steps：
Follower F1Distance measuring signal is sent to pilotage people L, range information is obtained | F1L|；
Follower F1To follower F2Distance measuring signal is sent, range information is obtained | F1F2|；
Follower F2Distance measuring signal is sent to pilotage people L, range information is obtained | F2L|；
Follower F2To follower F1Distance measuring signal is sent, range information is obtained | F2F1|。
5. a kind of many AUV formation control methods based on viscous damping mode according to claim 1, it is characterised in that the pilotage people in the AUV broadcasts itself speed and directional information to follower, specially：
Pilotage people broadcasts once itself speed of a ship or plane and course information to follower at regular intervals；Or,
Pilotage people just broadcasts itself speed of a ship or plane and course information in the case where the path point of tracking changes.
6. a kind of many AUV formation control methods based on viscous damping mode according to claim 1, it is characterized in that, the AUV provides the expectation speed of a ship or plane and desired course that follower completes to form into columns or maintain formation to need according to ranging information and directional information, specially：
After elapsed time Δ t, next cycle follower FiThe expectation speed of a ship or plane for vectorModulus value, desired course for vectorDeflection, and vectorMeet：
In formula,It is follower FiSpeed, virtual accelerationProduced by the elastic force of virtual spring, follower FiBy virtual spring F1F2And FiL produce make a concerted effort effect, and resistance produced by resisting medium effect, respectively：
In formula, k is the coefficient of elasticity of spring, and c is damped coefficient, and | DD | is desired distance, D between two followeriL is to represent follower FiDesired distance between the mass of (i=1,2) and the mass for representing pilotage people L,It is resisting medium and the relative velocity of mass, because resisting medium is all v with pilotage people's speedl,
Therefore making a concerted effort suffered by mass is：
It can thus be appreciated that：
。
7. a kind of many AUV formation control methods based on viscous damping mode according to claim 1, it is characterised in that the AUV completes the reckoning to relative distance information according to ranging information, specially：
Wherein, | F1F2|t+ Δ tIt is the distance between follower of t+ Δs t two, | F1F2|tIt is the distance between follower of t two, Δ | F1F2|tIt is the difference of actual range and desired distance between the follower of t two, | FiL|t+ Δ tIt is t+ Δ t follower FiThe distance between (i=1,2) and pilotage people L, | FiL|tIt is t follower FiThe distance between (i=1,2) and pilotage people L, Δ | FiL|tIt is t follower Fi(i=1,2) difference of actual range and desired distance and pilotage people L between, Δ t is elapsed time, and k uses empirical value, takes certain number between 0.1-0.5.
8. a kind of many AUV formation control methods based on viscous damping mode according to claim 1, it is characterised in that the viscous damping mode is：When thinking that distance meets expectation between AUV, virtual spring is not deformed upon；From energy point of view, should be by mass, elastic potential energy of the model that spring and damper are constituted in whole energy that initial time has stored by the initial kinetic energy and deformation spring of mass, damper does negative work to mass in whole vibration processes, consumed energy, elastic potential energy and the equal vanishing of kinetic energy that final whole model has, that is, converge on spring and elastically-deformable state do not occur.
9. a kind of many AUV formation control methods based on viscous damping mode according to claim 1, it is characterised in that the spring damping quality block models that many AUV form into columns are：Think that the AUV in forming into columns is the mass connected by spring, damping is produced by with pilotage people with the resisting medium of speed.Regulation spring does not occur flight pattern during elastic deformation, and to expect formation, then mass vibrates in the presence of spring force and resistance, and finally converges on expectation formation.
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| CN109062229A (en) * | 2018-08-03 | 2018-12-21 | 北京理工大学 | The navigator of underwater robot system based on binocular vision follows formation method |
| CN108983612A (en) * | 2018-08-08 | 2018-12-11 | 华南理工大学 | A kind of underwater robot formation control method kept with default capabilities and connection |
| CN109002058A (en) * | 2018-09-10 | 2018-12-14 | 北京航空航天大学 | Spacecraft formation flying relative position cooperative control method based on event triggering |
| CN109002058B (en) * | 2018-09-10 | 2020-04-24 | 北京航空航天大学 | Event trigger-based spacecraft formation flight relative position cooperative control method |
| CN111158261A (en) * | 2019-12-17 | 2020-05-15 | 西北工业大学 | Simulation method and system of airplane control system |
| CN112433538A (en) * | 2020-11-25 | 2021-03-02 | 中国航天空气动力技术研究院 | AUV formation method, system and storage medium |
| CN113238583A (en) * | 2021-07-14 | 2021-08-10 | 四川腾盾科技有限公司 | Intensive formation flying and anti-collision control method for fixed-wing unmanned aerial vehicles |
| CN113238583B (en) * | 2021-07-14 | 2021-09-24 | 四川腾盾科技有限公司 | Intensive formation flying and anti-collision control method for fixed-wing unmanned aerial vehicles |
| CN114115254A (en) * | 2021-11-16 | 2022-03-01 | 桂林电子科技大学 | RRT path planning method for multi-robot elastic formation |
| CN114440869A (en) * | 2021-12-27 | 2022-05-06 | 宜昌测试技术研究所 | Double-main AUV switching AUV cluster large-water-depth operation collaborative navigation positioning method |
| CN114440869B (en) * | 2021-12-27 | 2023-07-04 | 宜昌测试技术研究所 | Collaborative navigation positioning method for AUV cluster large water depth operation switched by double-master AUV |
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