CN107765701A - A kind of bow suitable for revolving body platform is to control method - Google Patents
A kind of bow suitable for revolving body platform is to control method Download PDFInfo
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- CN107765701A CN107765701A CN201711129035.5A CN201711129035A CN107765701A CN 107765701 A CN107765701 A CN 107765701A CN 201711129035 A CN201711129035 A CN 201711129035A CN 107765701 A CN107765701 A CN 107765701A
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- bow
- controller
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- deviation
- controllers
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Classifications
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0875—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted to water vehicles
-
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
Abstract
The present invention is to provide a kind of bow suitable for revolving body platform to control method.One：Input it is expected bow to；Two：Using TD controller transition process arrangings, transition result is obtained；Three：By actual bow to it is expected bow to and transition result make the difference, obtain bow to deviation, and deviation variation rate is calculated；Four：Input of the bow to deviation and deviation variation rate as S faces controller, the output of TD S controllers is drawn, using as the input of self-adaptive switch controller, obtain the output of switch controller；Five：Deviation variation rate is brought into membership function, draws the weight of TD S controllers and the weight of switch controller；Six：The result that above-mentioned steps are obtained, which is brought into fuzzy reasoning switch, obtains final control output；Seven：Judge actual bow to whether be equal to it is expected bow to.The present invention can effectively adapt to the marine environment of the strong nonlinearity of complexity, make revolving body platform can be steady into control in bow and be rapidly achieved and it is expected bow to and without high frequency flutter.
Description
Technical field
The present invention relates to a kind of control method of Underwater Observation Platform, specifically a kind of deep-sea for turning round the bodily form
The control method of observation platform.
Background technology
With the depth of ocean development and the expansion of range, the development of deep-sea observation technology is swift and violent, and observation platform should
Transport and give birth to, in some job tasks, observation platform needs spot hover it is necessary to use dynamic positioning technology.Dynamic positioning skill
The primary of art is exactly that bow is different to control method to control method, the bow of different platforms use.The turn-around machine of revolving body platform
Dynamic property is fine, but stability is poor, i.e., is encouraged by a very little, and the angular speed that will start to rotate and rotate is very big, turns
The dynamic time is long and is difficult to stop, specific revolving body observation platform and AUV under equal interference turn bow response curve can
See below Figure of description 2.So for turning round platform of the bow of bodily form observation platform to control different from other profiles,
Its own dynamic response characteristics is taken into full account, platform bow is solved and causes to control medium-high frequency flutter and by propeller nonlinear restriction
Controller output delay the problem of, make control process steady and restrain quick.
The content of the invention
It is an object of the invention to provide a kind of marine environment for the strong nonlinearity that can effectively adapt to complexity, make revolution
Body platform can be steady into control in bow and be rapidly achieved and it is expected bow to and the bow suitable for revolving body platform without high frequency flutter
To control method.
The object of the present invention is achieved like this：
Step 1：The expectation bow of revolving body platform is inputted to ψr；
Step 2：Using TD controller transition process arrangings, transition result ψ is obtainedtd；
Step 3：By actual bow to ψsWith transition result ψtdRespectively with it is expected bow to ψrMake the difference, obtain bow to deviation ψeAnd mistake
Cross result error ψtde, and deviation variation rate is calculated
Step 4：By transition result error ψtdeAnd deviation variation rateAs the input of S faces controller, show that TD-S is controlled
The output u of device processeds, by bow to deviation ψeAs the input of self-adaptive switch controller, the self-adaptive switch controller is obtained
Export ub；
Step 5：By deviation variation rateBring into membership function, draw the weight w of TD-S controllerssControlled with switch
The weight w of device processedb；
Step 6：The w that above-mentioned steps are obtainedb、ws、ubAnd usBring into fuzzy reasoning switch, obtain final control
Export u；
Step 7：Judge the actual bow of revolving body observation platform to ψsWhether it is equal to and it is expected bow to ψr, when both are equal
When then control process terminate, otherwise repeat the above steps three to step 6.
The present invention can also include：
1st, the TD-S controllers are that tracking derivative controller and S faces controller combination, specific feature are as follows：
ψe=ψtde=ψtd-ψs
us=Ku
Wherein, ψeIt is it is expected bow to ψrWith actual bow to ψsDeviation, ψtdeIt is the output valve ψ of derivative controllertdAnd reality
Bow is to ψsDeviation, usFor the output of TD-S controllers.
2nd, the feature of the self-adaptive switch controller is as follows：
ub=umax=K (2/ (1+exp (kp (ψr-ψ0)))-1)
Wherein, K is the maximum output that control system can provide, ψrIt is it is expected bow to ψ0Be initial time bow to.
3rd, fuzzy reasoning switch realizes TD-S face plate controllers and self-adaptive switch controller using fuzzy switching rule
Seamlessly transit twice, the TD-S planes and self-adaptive switch in each stage are calculated according to specific fuzzy rule membership function
The weight of controller, specific fuzzy rule and fuzzy rule membership function are as follows：
If E is Z, u is ub, otherwise u is us；This is fuzzy inference rule.
M=Z (e ')
ωb=m
ωs=1- ωb
U=ωbub+ωsus
Wherein E is a kind of situation occurred in actual control process, and Z is the corresponding situation in fuzzy rule, and Z (e ') is mould
Paste regular membership function, e ' (is herein bow to deviation ψeValue after normalized) it is the defeated of fuzzy rule membership function
Enter, m is the value of membership function, ubIt is the output of switch controller, usIt is the output of TD-S controllers, ωbIt is switch controller
Output factor, ωsIt is the output factor of TD-S controllers.
It is proposed by the present invention be it is a kind of turn round the bodily form Underwater Observation Platform bow to control method, observation platform is in operation
When sometimes for spot hover, under the ocean current environment of complexity, realize that spot hover needs to use dynamic positioning technology, and move
Power location technology is primarily bow to control.The bow suitable for revolving body platform of the present invention is to control method, suitable for revolution
Revolution bodily form platform of good performance.
The present invention turns bow features of response for revolving body, control process is divided into three phases, the different stages uses
Different control strategies：
First stage：System start-up phase, deviation are obvious, it is contemplated that the nonlinear restriction of propeller, design object bow to
Transient process, make control output is stable to rise.In this stage, derivative controller is introduced into S faces controller, i.e., described TD-S controls
Device, it can make the output of controller is stable to rise.Belong to small inertia system on bow this free degree is turned in view of revolving body platform,
The signal of one very little of possible controller may result in it is larger turn bow angular speed and angle, cause overshoot.So, it should to the greatest extent
Amount avoids the mutation that control exports, and makes controller output is steady to rise.
Second stage：Accelerate the regulation stage, control error reaches certain limit, can improve system fading margin speed, quickly
Error is reduced, reduces regulating time as far as possible.Considering the transient process of system start-up phase arrangement can become the speed of system fading margin
Slowly, so in order that whole control process is steady and quick, taken certain phase is steadily risen in the command signal of control
Accelerate regulation measure, this i.e. described acceleration regulation stage, this stage, using self-adaptive switch controller, make the bow of platform to
It can be declined rapidly with fast approaching target, deviation.
Phase III：The stage is accurately positioned, error is small, reduces response speed, improves the robustness of control process, realize bow
To control non-overshoot.This stage, it is also desirable to be control instruction signal transition process arranging, therefore use TD-S mentioned above to control
Device, the robustness of system is improved, realize the non-overshoot of control process.
For revolving body, it has good course changing quality energy, i.e. the slewability of revolving body is strong, but stability
Difference.For above-mentioned problem, the present invention proposes a kind of bow to control method, can adapt to revolution mentioned above very well
The dynamic response feature of body platform, its bow can be made steady to control and restrained rapid.Mentioned above is adapted to the revolution bodily form
The bow of platform analyzes the characteristics of turning bow response of revolution bodily form platform to control method first, and bow is divided into three to control process
Point：System start-up phase, accelerate regulation stage, the stage of being accurately positioned, the different stages takes different control strategies, that is, used
Different controllers.System start-up phase and it is accurately positioned the stage and is controlled using derivative controller (TD controller) and S faces
The TD-S controllers (TD-S plane controller) of combination, the regulation stage is accelerated to use switch controller (Bang-bang
controller).In order to prevent a kind of control mode switch to thrashing during another control model, it is necessary to design certain
Fuzzy rule, fuzzy switching rule is used to realize seamlessly transitting twice for TD-S face plate controllers and switch controller.
The bow for the revolving body platform that the present invention designs can effectively adapt to the sea of the strong nonlinearity of complexity to control method
Foreign environment, revolving body platform steadily can be rapidly achieved and it is expected bow to ψ into control in bowr, and without high frequency flutter.
Brief description of the drawings
Fig. 1, revolution bodily form observation platform schematic diagram.
Fig. 2, revolving body platform and torpedo-shaped AUV turn bow response comparison diagram.
Fig. 3, fuzzy rule membership function curve map.
Fig. 4, control system architecture schematic diagram.
Fig. 5, suitable for revolving body observation platform bow to control method flow chart.
Embodiment
Illustrate below and the present invention is described in more detail.
Specific embodiment can be divided into four parts：
1st, analyze revolving body platform and turn bow features of response, whole control process is finely divided as three phases, every
The individual different stage uses different control strategies, and specific features are as follows：
First stage：System start-up phase, deviation are obvious, it is contemplated that the nonlinear restriction of propeller, design object bow to
Transient process, make control output is stable to rise.In this stage, derivative controller is introduced into S faces controller, i.e., described TD-S controls
Device, it can make the output of controller is stable to rise.
Second stage：Accelerate the regulation stage, control error reaches certain limit, can improve system fading margin speed, quickly
Error is reduced, reduces regulating time as far as possible.In this stage, self-adaptive switch controller can be added to TD-S plane controls by we
Device.The bow of platform with fast approaching target, deviation to can be declined rapidly.
Phase III：The stage is accurately positioned, error is small, reduces response speed, improves the robustness of control process, realize bow
To control non-overshoot.In this stage, using TD-S controllers mentioned above, the robustness of system is improved, realizes control process
Non-overshoot.
Specific divided stages and detailed control strategy schematic diagram are shown in Figure of description 5.
2nd, the described TD-S controllers of construction, specific features are as follows：
(1) S faces controller can represent as follows：
F=Ku
Wherein, kpAnd kdIt is control coefrficient, u is control output, and K is the maximum, force or torque that propulsion system can provide, f
It is required power or torque, Δ u is the fixed interference obtained by adaptive approach.
(2) TD of discrete form：
Wherein, T is the sampling period, and v (t) is input signal, x1(t) it is used to track v (t), x2(t) it is v (t) difference, r tables
Show velocity factor, h represents filterable agent.
Extensive emulation experiment shows, tracking derivative controller (TD) can quickly track input signal, non-overshoot and trembles
It is dynamic.When input signal is is mutated, TD can provide input of the smooth output signal as controller, so control output is held
Continuous change, is also not present, the stability of control system gets a promotion even if occurring being mutated.
TD can be used for design object bow to transient process, then by the way that TD is added into S face plate controllers to build TD-
S face plate controllers.x1(t) target bow is tracked to r can select according to tracking velocity.
(3) TD-S controllers
ψe=ψtde=ψtd-ψs
us=Ku
Wherein, ψeIt is it is expected bow to ψrWith actual bow to ψsDeviation, ψtdeIt is the output valve ψ of derivative controllertdAnd reality
Bow is to ψsDeviation, usFor the output of TD-S controllers.
3rd, self-adaptive switch controller is designed
Above-mentioned TD-S controllers are mainly used in described system start-up phase and are accurately positioned the stage, and described
Accelerate the regulation stage, then need to use self-adaptive switch controller, the feature of switch controller can represent as follows：
Wherein, u represents the output of switch controller, umaxRepresent the maximum of switch controller output.E (k) represents inclined
Difference, ε represent the critical value of control.
Above-mentioned switch controller, although algorithm is simple and convenient, control output is discontinuous, and system output frequency is in desirable value
Nearby fluctuate, therefore control unstable up and down.So, it is contemplated that the characteristics of revolving body observation platform as far as possible, it should avoid turning round greatly
The influence of square, swings platform.In order to solve initial heading error, self-adaptive switch controller can be established：
ub=umax=K (2/ (1+exp (kp (ψr-ψ0)))-1)
Wherein, K is the maximum output that control system can provide, ψrIt is target bow to ψ0Be initial time bow to.
4th, fuzzy rule is formulated
In order that thrashing when above two control model mutually switches, it is necessary to formulate certain fuzzy rule, is used
In realizing seamlessly transitting twice for TD-S controllers and self-adaptive switch controller.It can be calculated according to fuzzy rule membership function
The weight of two switch controllers in each stage, specific fuzzy rule are as follows：
If E is Z, u is ub, otherwise u is us。
M=Z (e ')
ωb=m
ωs=1- ωb
U=ωbub+ωsus
Wherein Z is the membership function of fuzzy rule, ubIt is the output of self-adaptive switch controller, usIt is TD-S controllers
Output, ωbIt is the output factor of self-adaptive switch controller, ωsIt is the output factor of TD-S controllers.
Fuzzy rule membership function therein can refer to accompanying drawing 3.
5th, specific control process can refer to Figure of description 5 and be underdrawed, and specific features are as follows：
Step 1：The expectation bow of the revolving body platform is provided to ψr；
Step 2：Using TD controller transition process arrangings, ψ is obtainedtd；
Step 3：By actual bow to ψsWith it is expected bow to ψrAnd transition result ψtdMake the difference, obtain bow to deviation ψeAnd ψtde, and
Deviation variation rate is calculated
Step 4：By ψtdeWithAs the input of S faces controller, the output u of TD-S controllers is drawns, by ψeAs opening
The input of gateway controller, obtain the output u of the switch controllerb；
Step 5：By deviation variation rateBring into membership function, draw the weight w of TD-S controllerssControlled with switch
The weight w of device processedb；
Step 6：The w that above-mentioned steps are obtainedb、ws、ubAnd usBring into fuzzy reasoning switch, obtain final control
Export u；
Step 7：Judge the actual bow of the revolving body observation platform to ψsWhether it is equal to and it is expected bow to ψr, when both
Then control process terminates when equal, otherwise repeats the above steps three to step 6.
The present invention relates to one kind be applied to revolution bodily form observation platform bow to control method, designed control system
Structure chart is as shown in following claims accompanying drawing 4.
The substantially contour structures of described revolution bodily form Underwater Observation Platform are as shown in Figure 1.
The present invention is not only limited to the bow of revolving body platform to control, could be applicable to small inertia system, i.e., a certain carrier
Possesses the feature of small inertia system on certain single-degree-of-freedom, then the control method that the present invention mentions also effectively can carry out this to it
The motion control of the free degree.
Claims (4)
1. a kind of bow suitable for revolving body platform is to control method, it is characterized in that：
Step 1：The expectation bow of revolving body platform is inputted to ψr；
Step 2：Using TD controller transition process arrangings, transition result ψ is obtainedtd；
Step 3：By actual bow to ψsWith transition result ψtdRespectively with it is expected bow to ψrMake the difference, obtain bow to deviation ψeWith transition knot
Fruit deviation ψtde, and deviation variation rate is calculated
Step 4：By transition result error ψtdeAnd deviation variation rateAs the input of S faces controller, TD-S controllers are drawn
Output us, by bow to deviation ψeAs the input of self-adaptive switch controller, the output of the self-adaptive switch controller is obtained
ub；
Step 5：By deviation variation rateBring into membership function, draw the weight w of TD-S controllerssWith switch controller
Weight wb；
Step 6：The w that above-mentioned steps are obtainedb、ws、ubAnd usBring into fuzzy reasoning switch, obtain final control output
u；
Step 7：Judge the actual bow of revolving body observation platform to ψsWhether it is equal to and it is expected bow to ψr, when both are equal then
Control process terminates, and otherwise repeats the above steps three to step 6.
2. the bow according to claim 1 suitable for revolving body platform is to control method, it is characterized in that the TD-S is controlled
Device is that tracking derivative controller and S faces controller combination, specific feature are as follows：
ψe=ψtde=ψtd-ψs
us=Ku
Wherein, ψeIt is it is expected bow to ψrWith actual bow to ψsDeviation, ψtdeIt is the output valve ψ of derivative controllertdWith actual bow to
ψsDeviation, usFor the output of TD-S controllers.
3. the bow according to claim 2 suitable for revolving body platform is to control method, it is characterized in that described adaptively open
The feature of gateway controller is as follows：
ub=umax=K (2/ (1+exp (kp (ψr-ψ0)))-1)
Wherein, K is the maximum output that control system can provide, ψrIt is it is expected bow to ψ0Be initial time bow to.
4. the bow according to claim 3 suitable for revolving body platform is to control method, it is characterized in that fuzzy reasoning switches
Device realizes seamlessly transitting twice for TD-S face plate controllers and self-adaptive switch controller using fuzzy switching rule, according to specific
Fuzzy rule membership function calculate the TD-S planes in each stage and the weight of self-adaptive switch controller, it is specific fuzzy
Rule and fuzzy rule membership function are as follows：
If E is Z, u is ub, otherwise u is us；This is fuzzy inference rule.
M=Z (e ')
ωb=m
ωs=1- ωb
U=ωbub+ωsus
Wherein E is a kind of situation occurred in actual control process, and Z is the corresponding situation in fuzzy rule, and Z (e ') is fuzzy rule
Then membership function, e ' are that the input of fuzzy rule membership function is bow herein to deviation ψeValue after normalized, m
It is the value of membership function, ubIt is the output of switch controller, usIt is the output of TD-S controllers, ωbIt is the defeated of switch controller
Go out coefficient, ωsIt is the output factor of TD-S controllers.
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Cited By (4)
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| CN109828462A (en) * | 2019-02-18 | 2019-05-31 | 哈尔滨工程大学 | Wave glider becomes under the speed of a ship or plane adaptive bow to controller and control method |
| CN109901402A (en) * | 2019-04-08 | 2019-06-18 | 哈尔滨工程大学 | A kind of autonomous underwater robot path following method based on course smoothing technique |
| CN111798701A (en) * | 2020-07-07 | 2020-10-20 | 中国船舶工业系统工程研究院 | Unmanned ship path tracking control method, system, storage medium and terminal |
| CN113050420A (en) * | 2021-03-04 | 2021-06-29 | 山东大学 | AUV path tracking method and system based on S-plane control and TD3 |
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