CN106990788A - A kind of ship course composite control method and device - Google Patents
A kind of ship course composite control method and device Download PDFInfo
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- CN106990788A CN106990788A CN201710400667.4A CN201710400667A CN106990788A CN 106990788 A CN106990788 A CN 106990788A CN 201710400667 A CN201710400667 A CN 201710400667A CN 106990788 A CN106990788 A CN 106990788A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Abstract
The present invention provides a kind of ship course composite control method and device.Methods described, by using positive identification model, results in identification course angle；And according to the reverse identification model, the first Front Feed Compensation of acquisition can be calculated；According to robust controller, the second Front Feed Compensation is resulted in；Finally according to first Front Feed Compensation and second Front Feed Compensation, revised theoretical rudder angle can be calculated.By calculating first Front Feed Compensation and second Front Feed Compensation, the amendment to the actual rudder angle can be realized, and then more accurate rudder angle can be obtained during ship course, utilize accurate rudder angle control ship, control accuracy can be improved, meanwhile, by using robust controller, it can make ship that there is good robustness.
Description
Technical field
The present invention relates to ship course technical field, and in particular to a kind of ship course composite control method and device.
Background technology
With the process of economic globalization, larger-sized vessel, automation and the intelligent main flow developed as shipping industry
Trend.When ship rides the sea, inevitably acted on, navigated by water in addition by random disturbances such as wave, ocean current and sea winds
The features such as bad environments and working conditions change, inherent close coupling, big interference and parameter time varying that ship motion has so that argosy
Oceangoing ship, which manipulates control, turns into a multivariable nonlinearity time-varying process, and shows inertia is big, the blunt, control effect of response is poor etc.
Problem.Therefore, for the security and economy of guarantee Options of Ship Navigation, the research to its Heading control just becomes particularly to weigh
Will.
In the prior art, the rudder angle during ship's navigation can't be entered according to actual course angle and default course
Row amendment, it is impossible to improve the control accuracy of course operation control system.
The content of the invention
For drawbacks described above of the prior art, the invention provides a kind of based on emotion and semantic Intelligent dialogue method
And device, the rudder angle during ship's navigation can be modified, and then the control of course operation control system can be improved
Precision.
In a first aspect, a kind of ship course composite control method that the present invention is provided, including：
Detect actual heading angle and the actual rudder angle of ship course；
According to the actual heading angle, the positive identification model based on training obtains identification course angle；
According to the identification course angle, the actual heading angle, the actual rudder angle and default course angle, based on training
Reverse identification model, calculates the first Front Feed Compensation；
According to the default course angle and the actual heading angle, based on robust controller, the second Front Feed Compensation is calculated；
According to first Front Feed Compensation and second Front Feed Compensation, revised theoretical rudder angle is calculated.
Optionally, described according to the actual heading angle, the positive identification model based on training obtains identification course angle
The step of before, in addition to：
Obtain sample data；
According to the sample data, using least square method supporting vector machine algorithm, the positive identification model of training.
Optionally, after the step of the acquisition sample data, described according to the identification course angle, the reality
Course angle, the actual rudder angle and default course angle, the reverse identification model based on training calculate the step of the first Front Feed Compensation
Before rapid, in addition to：
According to the sample data, using least square method supporting vector machine algorithm, based on QUADRATIC PROGRAMMING METHOD FOR, training is reverse
Identification model.
Optionally, it is described according to the identification course angle, the actual heading angle, the actual rudder angle and default course
Angle, the reverse identification model based on training calculates the first Front Feed Compensation, including：
According to the identification course angle and the actual heading angle, course angle regulated quantity is calculated；
According to the course angle regulated quantity, the actual rudder angle and default course angle, the reverse identification model based on training,
Calculate the first Front Feed Compensation.
Optionally, it is described according to first Front Feed Compensation and second Front Feed Compensation, calculate revised reason
By rudder angle, including：
According to first Front Feed Compensation and second Front Feed Compensation, using theoretical calculating balance rudder angle method, calculate
Revised theoretical rudder angle.
Second aspect, a kind of ship course composite control apparatus that the present invention is provided, including：
Detection module, actual heading angle and actual rudder angle for detecting ship course；
Module is recognized, for according to the actual heading angle, the positive identification model based on training to obtain identification course
Angle；
First Front Feed Compensation computing module, for according to the identification course angle, the actual heading angle, the reality
Rudder angle and default course angle, the reverse identification model based on training calculate the first Front Feed Compensation；
Second Front Feed Compensation computing module, for according to the default course angle and the actual heading angle, based on Shandong
Stick controller, calculates the second Front Feed Compensation；
Theoretical calculating balance rudder angle module, for according to first Front Feed Compensation and second Front Feed Compensation, calculating
Revised theoretical rudder angle.
Optionally, described device, in addition to：
Data acquisition module, for obtaining sample data；
Positive training module, for according to the sample data, using least square method supporting vector machine algorithm, training to be positive
Identification model.
Optionally, described device, in addition to：
Reverse training module, for according to the sample data, using least square method supporting vector machine algorithm, based on secondary
Planing method, trains reverse identification model.
Optionally, the first Front Feed Compensation computing module, including：
Course angle conciliation amount computing unit, for according to the identification course angle and the actual heading angle, calculating course
Angle regulated quantity；
First Front Feed Compensation computing unit, for according to the course angle regulated quantity, the actual rudder angle and default boat
To angle, the reverse identification model based on training calculates the first Front Feed Compensation.
Optionally, the theoretical calculating balance rudder angle module, specifically for：
According to first Front Feed Compensation and second Front Feed Compensation, using theoretical calculating balance rudder angle method, calculate
Revised theoretical rudder angle.
From above technical scheme, the present invention results in identification course angle by positive identification model；And according to institute
Reverse identification model is stated, the first Front Feed Compensation of acquisition can be calculated；According to robust controller, the second feedforward compensation is resulted in
Amount；Finally according to first Front Feed Compensation and second Front Feed Compensation, revised theoretical rudder angle can be calculated.
By calculating first Front Feed Compensation and second Front Feed Compensation, it can realize to the actual rudder angle
Amendment, and then more accurate rudder angle can be obtained during ship course, utilize accurate rudder angle control ship, Neng Gouti
High control precision, meanwhile, by using robust controller, it can make ship that there is good robustness.
A kind of ship course composite control apparatus that the present invention is provided, with above-mentioned ship course composite control method for phase
Same inventive concept, with identical beneficial effect.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The accompanying drawing used required in embodiment or description of the prior art is briefly described.In all of the figs, similar element
Or part is general by similar reference mark.In accompanying drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 shows that first embodiment of the invention provides a kind of flow chart of ship course composite control method；
Fig. 2 shows that first embodiment of the invention provides a kind of schematic diagram of ship course composite control method；
Fig. 3 shows that first embodiment of the invention provides the schematic diagram of positive identification model；
Fig. 4 shows that first embodiment of the invention provides the schematic diagram of reverse identification model；
Fig. 5 shows that second embodiment of the invention provides a kind of schematic diagram of ship course composite control apparatus.
Embodiment
The embodiment of technical solution of the present invention is described in detail below in conjunction with accompanying drawing.Following examples are only used for
Clearly illustrate technical scheme, therefore be intended only as example, and the protection of the present invention can not be limited with this
Scope.
It should be noted that unless otherwise indicated, technical term or scientific terminology used in this application should be this hair
The ordinary meaning that bright one of ordinary skill in the art are understood.
The invention provides a kind of ship course composite control method and device.Below in conjunction with the accompanying drawings to the implementation of the present invention
Example is illustrated.
Fig. 1 shows a kind of flow chart for ship course composite control method that first embodiment of the invention is provided.Such as
Shown in Fig. 1, a kind of ship course composite control method that first embodiment of the invention is provided comprises the following steps：
Step S101：Detect actual heading angle and the actual rudder angle of ship course.
Step S102：According to the actual heading angle, the positive identification model based on training obtains identification course angle.
Step S103：According to the identification course angle, the actual heading angle, the actual rudder angle and default course angle,
Reverse identification model based on training, calculates the first Front Feed Compensation.
Step S104：According to the default course angle and the actual heading angle, based on robust controller, before calculating second
Present compensation rate.
Step S105：According to first Front Feed Compensation and second Front Feed Compensation, revised theory is calculated
Rudder angle.
The present invention results in identification course angle by positive identification model；And according to the reverse identification model, can
Calculate and obtain the first Front Feed Compensation；According to robust controller, the second Front Feed Compensation is resulted in；Finally according to described first
Front Feed Compensation and second Front Feed Compensation, can calculate revised theoretical rudder angle.By being feedovered to described first
Compensation rate and second Front Feed Compensation are calculated, and can realize the amendment to the actual rudder angle, and then can be in ship
More accurate rudder angle is obtained during oceangoing ship course, accurate rudder angle control ship is utilized, it is possible to increase control accuracy, meanwhile,
By using robust controller, it can make ship that there is good robustness.
In step S101, it is possible to use course detection means is come the actual heading angle for detecting the ship and actual rudder
Angle.
Before step S102, it can also include：Obtain sample data；According to the sample data, using least square
Algorithm of support vector machine, the positive identification model of training.
Wherein, the sample data can be not the actual heading angle of the ship and the theoretical rudder angle in the same time of storage,
Can also be the actual heading angle of presently described ship and theoretical rudder angle.
By using the positive identification model of least square method supporting vector machine Algorithm for Training, it can obtain more accurately, more
Simple model, can improve model accuracy, meanwhile, it is capable to improve on-line operation speed.
In identification model positive using least square method supporting vector machine Algorithm for Training, dimension can be solved using kernel function
Problem, can find optimal solution using QUADRATIC PROGRAMMING METHOD FOR.Using this structural risk minimization, the model can be made
With wide generalized ability.
For example, as shown in figure 3, choosing the sample data at k moment to k+1 ... k+l-1 moment, sample data is：{(x1,
ψ1),…(xl,ψl), wherein, x1,x2,…xlFor the input vector at k moment to k+1 ... k+l-1 moment, the input vector
For：
x1 T=[ψc(k),ψc(k-1),...ψc(k-n+1),δc(k-1),δc(k-2)...δc(k-m+1)]
x2 T=[ψc(k+1),ψc(k),...ψc(k-n+2),δc(k),δc(k-1)...δc(k-m+2)]
......
xl T=[ψc(k+l-1),ψc(k+l-2),...ψc(k-n+l),δc(k+l-2),...δc(k+l-m)]
Wherein, kernel function takes RBF：h(x,xk)=exp (- | | x-xk||2/σ2), for new input vector number
According to xk, calculate and obtain recognizing course angle：
In a specific embodiment providing of the present invention, the step of the acquisition sample data after, at described
According to the identification course angle, the actual heading angle, the actual rudder angle and default course angle, the reverse identification mould based on training
Before type, the step of calculating the first Front Feed Compensation, in addition to：
According to the sample data, using least square method supporting vector machine algorithm, based on QUADRATIC PROGRAMMING METHOD FOR, training is reverse
Identification model.
In this step, when training reverse identification model, the sample data before training data can be is identical, also may be used
With the sample data before not being, all within the scope of the present invention.
In a specific embodiment providing of the present invention, it is described according to the identification course angle, the actual heading angle,
The actual rudder angle and default course angle, the reverse identification model based on training calculate the first Front Feed Compensation, including：According to
The identification course angle and the actual heading angle, calculate course angle regulated quantity；According to the course angle regulated quantity, the reality
Rudder angle and default course angle, the reverse identification model based on training calculate the first Front Feed Compensation.
Wherein, the course angle regulated quantity is identification course angle and the difference at the actual heading angle.
After reverse identification model is established, penalty factor can be chosen automatically and unwise using APSO algorithm
Loss coefficient is felt, in such manner, it is possible to improve the identification precision of reverse identification model.
Wherein, penalty factor refers to the degree of admission to error, and penalty factor is higher, illustrates more to be unable to going out for admissible error
It is existing.The effect of penalty factor is the compromise for the smoothness and empiric risk that regression curve is controlled in feature space.It is insensitive to damage
Coefficient is lost, the size of insensitive loss function determines supporting vector number, and insensitive loss function is bigger, of supporting vector
Number is fewer, and the precision of estimation is lower.Insensitive loss function is smaller, and the number of supporting vector is more, and the precision of Function Estimation is got over
Height, but be not the smaller the better, although the time needed for can improving precision, but algorithm is elongated, so must select suitably not
Sensitive loss coefficient.
In this step, when training reverse identification model, as shown in figure 4, sample data is：The k moment to k+1 ... k+
The course angle and rudder angle at l-1 moment, wherein, the course angle is：ψc(k), ψ (k-1) ... ψ (k-n+1), the rudder angle is：δc
(k-1),δc(k-2),…δc(k-m+1), using least square method algorithm of support vector machine, based on QUADRATIC PROGRAMMING METHOD FOR, train inverse
To identification model, when the input value of the reverse identification model is determined, the reverse identification model can be provided based on described
The model of first Front Feed Compensation of input value, and then, choose corresponding α further according to APSO algorithmi,γi, b coefficients
Value.
For example, the input value is xk+1When, first Front Feed Compensation is：
Figure it is seen that the input of the present invention is actual heading angle, theoretical rudder angle is output as.The reverse identification mould
The sample data of type can be ship actual heading angle and theoretical rudder angle or between the actual heading angle that stores and reason
By rudder angle data.The reverse identification model makes the reverse identification by input and the study of output data to the present invention
Model gradually approaches dynamics inversion model, that is, is output as rudder angle, inputs as course angle, so as to constitute a feedforward benefit
Controller is repaid, i.e., reverse identification model, in such manner, it is possible to improve ship course keeping control precision.
In a specific embodiment providing of the present invention, it is described according to first Front Feed Compensation and described second before
Compensation rate is presented, revised theoretical rudder angle is calculated, including：According to first Front Feed Compensation and second feedforward compensation
Amount, using theoretical calculating balance rudder angle method, calculates revised theoretical rudder angle.
According to the default course angle and the actual heading angle, based on robust controller, the second feedforward compensation is calculated
In the step of amount, the input of the robust controller controls error for course angle, is output as the second control compensator.
Wherein, the robust controller can devise H ∞ robust controllers using LMI.
The course angle controls error to be the difference at the default course angle and the actual heading angle, i.e.,：Δψr(k)=
ψr(k)-ψc(k)
Wherein, ψc(k) it is actual heading angle, ψr(k) it is default course angle.
The theoretical calculating balance rudder angle method is：
δc(k)=β δs(k)+(1-β)δr(k)
Wherein, the δs(k) it is the first Front Feed Compensation, the δr(k) it is the second Front Feed Compensation, the β is adaptive
The robust factor.
Wherein, the ADAPTIVE ROBUST factor is the identification precision of positive identification model, the ADAPTIVE ROBUST factor
Value is improved and increased with the identification precision of positive identification model, and the span of the ADAPTIVE ROBUST factor is：[0,1].
The ADAPTIVE ROBUST factor can play a part of adjusting the compensation intensity of reverse identification model.
Non-linear, the uncertain and response that course control system is shown when the present invention is directed to Options of Ship Navigation is blunt
Property the features such as, it is proposed that using SVMs reverse identification model and H ∞ robust controllers constitute ship course it is adaptive
Strain factor weight composite controller.Increment least square method supporting vector machine algorithm and secondary rule are remembered using online fixed size
Entropy criterion optimum choice data set is drawn, on-line operation speed is improved.It is excellent using the overall situation in terms of SVMs parameter selection
The strong APSO algorithm of change ability and the data obtained, are automatically SVMs optimum option penalty factor, no
The parameters such as sensitive loss coefficient, can obtain more accurate System identification model.By using good non-linear of SVMs
Mapping ability, self-learning capability and information parallel processing capability, construct the positive identification model of ship yawing kinematics dynamics
With reverse identification model, and combined with closed loop H ∞ robust controllers and the ADAPTIVE ROBUST factor, constitute an ADAPTIVE ROBUST most young waiter in a wineshop or an inn
Multiply SVMs composite controller so that ship course keeping control precision is high, manipulate steadily, and with good robustness.
The present invention can be with adjust automatically compensation intensity, and the simulation results show present invention can effectively improve ship boat
To control accuracy and robustness.
It is corresponding there is provided a kind of ship course composite control method in above-mentioned first embodiment, this Shen
A kind of ship course composite control apparatus is please also provided.Fig. 5 is refer to, a kind of its ship provided for second embodiment of the invention
The schematic diagram of course composite control apparatus.Because device embodiment is substantially similar to embodiment of the method, so describing simpler
Single, the relevent part can refer to the partial explaination of embodiments of method.Device embodiment described below is only schematical.
A kind of ship course composite control apparatus that second embodiment of the invention is provided, including：
Detection module 101, actual heading angle and actual rudder angle for detecting ship course；
Module 102 is recognized, for according to the actual heading angle, the positive identification model based on training to obtain identification boat
To angle；
First Front Feed Compensation computing module 103, for according to the identification course angle, the actual heading angle, described
Actual rudder angle and default course angle, the reverse identification model based on training calculate the first Front Feed Compensation；
Second Front Feed Compensation computing module 104, for according to the default course angle and the actual heading angle, being based on
Robust controller, calculates the second Front Feed Compensation；
Theoretical calculating balance rudder angle module 105, for according to first Front Feed Compensation and second Front Feed Compensation, meter
Calculate revised theoretical rudder angle.
In the specific embodiment that the present invention is provided, described device, in addition to：
Data acquisition module, for obtaining sample data；
Positive training module, for according to the sample data, using least square method supporting vector machine algorithm, training to be positive
Identification model.
In the specific embodiment that the present invention is provided, described device, in addition to：
Reverse training module, for according to the sample data, using least square method supporting vector machine algorithm, based on secondary
Planing method, trains reverse identification model.
In the specific embodiment that the present invention is provided, the first Front Feed Compensation computing module 103, including：
Course angle conciliation amount computing unit, for according to the identification course angle and the actual heading angle, calculating course
Angle regulated quantity；
First Front Feed Compensation computing unit, for according to the course angle regulated quantity, the actual rudder angle and default boat
To angle, the reverse identification model based on training calculates the first Front Feed Compensation.
In the specific embodiment that the present invention is provided, the theoretical calculating balance rudder angle module 105, specifically for：
According to first Front Feed Compensation and second Front Feed Compensation, using theoretical calculating balance rudder angle method, calculate
Revised theoretical rudder angle.
More than, a kind of embodiment explanation of the ship course composite control apparatus provided for second embodiment of the invention.
A kind of ship course composite control apparatus that the present invention is provided goes out with a kind of above-mentioned ship course composite control method
In identical inventive concept, with identical beneficial effect, here is omitted.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme, it all should cover among the claim of the present invention and the scope of specification.
Claims (10)
1. a kind of ship course composite control method, it is characterised in that including：
Detect actual heading angle and the actual rudder angle of ship course；
According to the actual heading angle, the positive identification model based on training obtains identification course angle；
According to the identification course angle, the actual heading angle, the actual rudder angle and default course angle, based on the reverse of training
Identification model, calculates the first Front Feed Compensation；
According to the default course angle and the actual heading angle, based on robust controller, the second Front Feed Compensation is calculated；
According to first Front Feed Compensation and second Front Feed Compensation, revised theoretical rudder angle is calculated.
2. ship course composite control method according to claim 1, it is characterised in that described according to the actual boat
To angle, the positive identification model based on training, obtain identification course angle the step of before, in addition to：
Obtain sample data；
According to the sample data, using least square method supporting vector machine algorithm, the positive identification model of training.
3. ship course composite control method according to claim 2, it is characterised in that in the acquisition sample data
After step, described according to the identification course angle, the actual heading angle, the actual rudder angle and default course angle, base
In the reverse identification model of training, before the step of calculating the first Front Feed Compensation, in addition to：
According to the sample data, using least square method supporting vector machine algorithm, based on QUADRATIC PROGRAMMING METHOD FOR, the reverse identification of training
Model.
4. ship course composite control method according to claim 1, it is characterised in that described according to the identification course
Angle, the actual heading angle, the actual rudder angle and default course angle, the reverse identification model based on training, before calculating first
Compensation rate is presented, including：
According to the identification course angle and the actual heading angle, course angle regulated quantity is calculated；
According to the course angle regulated quantity, the actual rudder angle and default course angle, the reverse identification model based on training is calculated
First Front Feed Compensation.
5. ship course composite control method according to claim 1, it is characterised in that described according to the described first feedforward
Compensation rate and second Front Feed Compensation, calculate revised theoretical rudder angle, including：
According to first Front Feed Compensation and second Front Feed Compensation, using theoretical calculating balance rudder angle method, amendment is calculated
Theoretical rudder angle afterwards.
6. a kind of ship course composite control apparatus, it is characterised in that including：
Detection module, actual heading angle and actual rudder angle for detecting ship course；
Module is recognized, for according to the actual heading angle, the positive identification model based on training to obtain identification course angle；
First Front Feed Compensation computing module, for according to the identification course angle, the actual heading angle, the actual rudder angle
With default course angle, the reverse identification model based on training calculates the first Front Feed Compensation；
Second Front Feed Compensation computing module, for according to the default course angle and the actual heading angle, based on robust control
Device processed, calculates the second Front Feed Compensation；
Theoretical calculating balance rudder angle module, for according to first Front Feed Compensation and second Front Feed Compensation, calculating amendment
Theoretical rudder angle afterwards.
7. ship course composite control apparatus according to claim 6, it is characterised in that described device, in addition to：
Data acquisition module, for obtaining sample data；
Positive training module, for according to the sample data, using least square method supporting vector machine algorithm, the positive identification of training
Model.
8. ship course composite control apparatus according to claim 7, it is characterised in that described device, in addition to：
Reverse training module, for according to the sample data, using least square method supporting vector machine algorithm, based on quadratic programming
Method, trains reverse identification model.
9. ship course composite control apparatus according to claim 6, it is characterised in that the first feedforward compensation gauge
Module is calculated, including：
Course angle conciliation amount computing unit, is adjusted for according to the identification course angle and the actual heading angle, calculating course angle
Section amount；
First Front Feed Compensation computing unit, for according to the course angle regulated quantity, the actual rudder angle and default course angle,
Reverse identification model based on training, calculates the first Front Feed Compensation.
10. ship course composite control apparatus according to claim 6, it is characterised in that the theoretical calculating balance rudder angle mould
Block, specifically for：
According to first Front Feed Compensation and second Front Feed Compensation, using theoretical calculating balance rudder angle method, amendment is calculated
Theoretical rudder angle afterwards.
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| CN201710400667.4A CN106990788A (en) | 2017-05-31 | 2017-05-31 | A kind of ship course composite control method and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112578801A (en) * | 2021-03-01 | 2021-03-30 | 北京海兰信数据科技股份有限公司 | Ship course anti-interference control method |
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Application publication date: 20170728 |