CN108052104A - A kind of method and system of debugging unmanned boat - Google Patents
A kind of method and system of debugging unmanned boat Download PDFInfo
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- CN108052104A CN108052104A CN201711348922.1A CN201711348922A CN108052104A CN 108052104 A CN108052104 A CN 108052104A CN 201711348922 A CN201711348922 A CN 201711348922A CN 108052104 A CN108052104 A CN 108052104A
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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
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
The present invention relates to unmanned boat control technology fields, and in particular to a kind of method of debugging unmanned boat, including：Unmanned boat image is gathered, and is parsed on ship in the anchor point space coordinates of isosceles triangle distribution；Space coordinates according to anchor point calculates posture, position and the speed of unmanned boat；The desired speed and convergence parameter reached needed for desired trajectory is parsed by control algolithm；According to present speed and desired speed, the motor controlled quentity controlled variable reached needed for desired speed is parsed by control algolithm；Motor controlled quentity controlled variable is sent, motor is adjusted according to controlled quentity controlled variable.The present invention uses computer as control terminal, the calculating in relation to control algolithm is completed instead of hull controller, it relatively efficiently draws the suitable parameters of control algolithm, and program is controlled no longer to need repeatedly to be burnt on unmanned boat, greatly portable adjusting step.Meanwhile debugging acquisition parameter is unrelated with unmanned ship model, may be directly applied in practice.
Description
Technical field
The present invention relates to unmanned boat control technology fields, and in particular to a kind of method and system of debugging unmanned boat.
Background technology
With the continuous development of unmanned boat application technology, people are also higher and higher to the performance requirement of unmanned boat, existing
Unmanned boat debugging technique is debugged in lake, but exist set for this platform spend the time it is long, it is complicated for operation, easily done by external environment
Disturb, positioning accuracy is low, hull controller computing capability deficiency, the shortcomings of debugging step is cumbersome, cannot meet to unmanned boat
Carry out the control requirement of high-precision complex task.And unmanned boat is a complexity height, inertia is big, and environmental disturbances are big, non-linear,
The under-actuated systems of close coupling, the accuracy of debugging system will largely affect the quality of debugging unmanned boat performance.It is existing
In the performance that more perfect a set of debugging comes out not yet and the unmanned boat debugging system being also closer in practice.Cause
This, one for the strong debugging system of unmanned boat convenience, high-precision, computing capability become there is an urgent need to.
The content of the invention
In order to overcome shortcoming and defect in the prior art, it is an object of the invention to provide a kind of debugging without
The method and system of people's ship.
To achieve the above object, the present invention uses following scheme.
A kind of method of debugging unmanned boat, including：
Unmanned boat image is gathered, and is parsed on ship in the anchor point space coordinates of isosceles triangle distribution；
Space coordinates according to anchor point calculates posture, position and the speed of unmanned boat；
According to current location and desired trajectory, parsed by control algolithm reach desired speed needed for desired trajectory and
Convergence parameter；According to present speed and desired speed, the motor control reached needed for desired speed is parsed by control algolithm
Amount；
Motor controlled quentity controlled variable is sent, motor is adjusted according to controlled quentity controlled variable.
Further, unmanned boat image is gathered, and parses the anchor point space coordinates being distributed on ship in isosceles triangle,
Specially：
Global coordinate system is preset in debugging region；
Gather image of the unmanned boat in debugging region；
It identifies in the anchor point of isosceles triangle distribution in image, and passes through multi-vision visual coordinate algorithm, parse positioning
Space coordinates of the point in global coordinate system.
Further, the space coordinates according to anchor point calculates posture, position and the speed of unmanned boat, is specially：
The space coordinates of foundation anchor point parses the point midway (x of two base angle anchor point of isosceles triangle1,y1), and
With apex angle anchor point (x2,y2) it is linked to be line segment, parse the midpoint (x of line segmentc,yc) position as unmanned boat；
Course angle ψ=atan2 ((y of the unmanned boat in global coordinate system is parsed by arctan function2-y1)/(x2-
x1))；
Using fore navigation as y-axis, three-dimensional coordinate system is built for x-axis with y-axis vertical-right, and passes through differential position algorithm, complete
Office's coordinate system and body coordinate system transformation algorithm parse the forward speed u, lateral velocity v and angular speed r of unmanned boat.
Further, according to current location and desired trajectory, parsed and reached needed for desired trajectory by control algolithm
Desired speed and convergence parameter；According to present speed and desired speed, parsed and reached needed for desired speed by control algolithm
Motor controlled quentity controlled variable, be specially：
According to desired trajectory, unmanned boat orbit tracking movement model is established；
The difference of unmanned boat current location and desired trajectory is calculated, error model is built according to difference, error model is asked
It leads, and passes through Stability Analysis and Design control algolithm, the desired speed of unmanned boat desired trajectory and convergence parameter must be reached；
Calculate the difference of unmanned boat present speed and desired speed, using control algolithm and combining establish unmanned boat track with
Track kinematics model obtains the control parameter of unmanned boat forward speed and the control parameter of phase angle；
The forward speed control parameter and Phase angle control parameter adjusted according to unmanned boat, calculates the control that motor need to adjust
Amount.
Further, the control algolithm includes double closed-loop PID algorithm, and LQR algorithms, sliding mode control algorithm is self-adaptive controlled
Algorithm processed, predictive control algorithm.
Further, the unmanned boat includes twin screw unmanned boat, and single-screw starches tailing rudder unmanned boat and pushes away dress with side
The full driving unmanned boat put.
A kind of system of debugging unmanned boat, including：
Control system, parsing positioning point coordinates and unmanned boat posture, position and speed, and regulation motor；
Vision positioning system, for gathering unmanned boat image；
Unmanned boat, for adjusting and making along the navigation of expectation track；
The control system respectively with vision positioning system and unmanned boat wireless connection；The control system includes communication mould
Block and computer control terminal, the communication module are electrically connected with computer control terminal；The vision positioning module includes
At least three infrared camera, the infrared camera are fixed on debugging edges of regions, and the alignment lens debugging of infrared camera
The central area in region；The unmanned boat is equipped with the anchor point of at least three not on the same line, and the anchor point is in isosceles three
Angular distribution.
Further, the anchor point is for infrared transmitting tube or equipped with the sphere for reflecting infrared luminescent material.
Further, the infrared camera with universal shaft support by being fixed on debugging edges of regions.
Beneficial effects of the present invention：Control terminal is used computer as, related control is completed instead of hull controller and calculates
The calculating of method, relatively efficiently draws the suitable parameters of control algolithm, and program is controlled no longer to need repeatedly to be burnt to
On unmanned boat, greatly portable adjusting step.Meanwhile the debugging of computer control terminal obtain parameter and unmanned ship model without
It closes, the control algolithm parameter of final debugging out may be directly applied in practice.
Description of the drawings
Fig. 1 is the system structure diagram of the embodiment of the present invention.
Fig. 2 is the system architecture diagram of the embodiment of the present invention.
Fig. 3 is the twin screw unmanned boat structure diagram of the embodiment of the present invention.
Specific embodiment
For the ease of the understanding of those skilled in the art, the present invention is made further with reference to embodiment and attached drawing
Bright, the content that embodiment refers to not is limitation of the invention.
A kind of system of debugging unmanned boat, as shown in Figure 1, including：
Control system 202, for parsing 204 coordinate of anchor point and unmanned boat posture, position and speed, and regulation motor；
Vision positioning system 201, for gathering 203 image of unmanned boat；
Unmanned boat 203 for adjusting the speed of a ship or plane and course, and is navigated by water along expectation track；
The control system 202 respectively with 203 wireless connection of vision positioning system 201 and unmanned boat；The control system
202 include communication module and computer control terminal, and the communication module is electrically connected with computer control terminal；The vision
Alignment system 201 includes at least three infrared camera, and the infrared camera is fixed on debugging edges of regions, and divides in a ring
Cloth is installed on the place of 2m high, and the central area in the alignment lens debugging region of infrared camera；The unmanned boat 203 is equipped with
The anchor point 204 of at least three not on the same line, the anchor point 204 are distributed in isosceles triangle.
In the present embodiment, anchor point 204 is for infrared transmitting tube or equipped with the sphere for reflecting infrared luminescent material.Anchor point 204
By launching infrared light or reflection infrared light, unmanned boat is enable to be captured by the infrared camera of vision positioning system 201 to figure
Picture.
In the present embodiment, the communication module uses common 24L01 wireless modules.It is connected with computer control terminal
24L01 communication modules receive motor control signal, and the 24L01 communication modules being wirelessly sent on unmanned boat 203.
24L01 communication modules on ship transmit information to the controller on unmanned boat 203 to control the rotating speed of motor again.
In the present embodiment, infrared camera with universal shaft support by being fixed on debugging edges of regions.Common passes through
The mode of pedestal fixing camera, camera can only left-right rotations, highly generally fixation, and installing not easy to remove.And this reality
Example is applied using stent by fixture fixing camera, camera shooting grease head highness can be adjusted, universal shaft can be with 360 degrees omnidirection on stent
Camera is adjusted, is conducive to obtain preferable visual angle when debugging 203 running environment of unmanned boat, installation and dismounting are all more convenient, and
And mounting seat can not reduce influence of the physical contact to pool environment, so close to application environment in practice, debugging comes out
Effect can coincide well with the effect in actual environment.
The present embodiment additionally provides a kind of method of debugging unmanned boat, as shown in Fig. 2, control system 202 is first being adjusted
Global coordinate system is preset in examination region, and control system 202 parses the position of unmanned boat 203 according to default global coordinate system.Depending on
Feel the image that the infrared camera acquisition unmanned boat 203 of alignment system 201 navigates by water in region is debugged, and be wirelessly transmitted to control
The computer control terminal of system 202, computer control terminal is identified from the image of acquisition determines in isosceles triangle distribution
Site 204, and pass through multi-vision visual coordinate algorithm, parse space coordinates of the anchor point 204 in global coordinate system.
Space coordinates of the computer control terminal according to anchor point 204, parses two base angle anchor point 204 of isosceles triangle
Point midway (x1,y1), and with apex angle anchor point (x2,y2) it is linked to be line segment, parse the midpoint (x of line segmentc,yc) it is used as nobody
The position of ship；Course angle ψ=atan2 ((y of the unmanned boat in global coordinate system is parsed by arctan function2-y1)/(x2-
x1))；Computer control terminal builds three-dimensional coordinate system using fore navigation as y-axis, with y-axis vertical-right for x-axis, according to body coordinate
System calculates the speed amount of unmanned boat 203 itself；Computer control terminal passes through differential position algorithm, global coordinate system and body coordinate
System becomes scaling method, parses the forward speed u, lateral velocity v and angular speed r of unmanned boat 203.
Computer control terminal is formed into columns according to different expectation tracks, such as single ship track following, more ships, and more ships are surrounded and seize, more
Ship patrol etc., establishes 203 orbit tracking movement model of unmanned boat.Computer control terminal calculates 203 current location of unmanned boat
With the difference of desired trajectory, error model is built according to difference, to error model derivation, with reference to the error model after derivation, into
Row Theory of Stability analysis (such as liapunov's method, your invariant set of Lhasa is theoretical, barbalet lemma etc.), according to stabilization
Property theory analysis design control algolithm must reach the desired speed of 203 desired trajectory of unmanned boat and convergence parameter, pass through control
The size of convergence parameter adjusts the speed that unmanned boat 203 converges to desired trajectory；Then the size according to desired speed calculates
The difference of 203 present speed of unmanned boat and desired speed.According to the difference of 203 present speed of unmanned boat and desired speed, utilize
Control algolithm (being preferably pid control algorithm) simultaneously with reference to 203 orbit tracking movement model of unmanned boat has been established, obtains unmanned boat
The control parameter Kp, Ki, Kd of 203 forward speeds and the control parameter Kp, Ki, Kd of phase angle；Wherein Kp represents proportional control factor,
For governing response speed；Ki represents integral adjustment coefficient, for adjusting residual error；Kd represents calculus adjustment factor, for adjusting
Save oscillatory condition；By the control parameter Kp of forward speed, Ki, Kd adjust the forward speed of unmanned boat, pass through the control of phase angle
Parameter Kp, Ki, Kd adjust unmanned ship's head.
Convergence parameter, adjusting hull forward speed control parameter and Phase angle control parameter are required for taking suitable value, otherwise
System oscillation will be caused unstable, influence system performance or convergence rate can be caused excessively slow, it is impossible to realize that track following is appointed
Business, it is therefore desirable to be repeated several times and attempt.Adjustment convergence parameter, adjusting hull forward speed control parameter and Phase angle control ginseng every time
After number, forward speed control parameter and Phase angle control parameter that computer control terminal is adjusted according to unmanned boat 203 calculate electricity
The controlled quentity controlled variable that machine need to adjust including PWM controlled quentity controlled variables and electric moter voltage controlled quentity controlled variable, and passes through communication module by controlled quentity controlled variable wirelessly to pass
Defeated mode is sent to unmanned boat 203 and removes rotating speed of control DC brushless motor etc., makes side of the unmanned boat by convergence desired trajectory
To adjustment.
In the present embodiment, unmanned boat 203 is preferably twin screw unmanned boat, as shown in figure 3, it is expected rail when unmanned boat is opposite
When mark is inclined to the left side, by adjusting convergence parameter, adjusting hull forward speed control parameter and Phase angle control parameter, make communication mould
Block sends controlled quentity controlled variable of the controlled quentity controlled variable more than right side DC brushless motor of DC brushless motor on the left of ship so that left side brush DC
The rotating speed of motor is more than the rotating speed of right side DC brushless motor, with the yawing of this bigger to the right, makes unmanned boat inclined to the right
Boat, convergence desired trajectory.
In the present embodiment, all control algolithms and control parameter debugging are completed in computer control terminal, are directly calculated
Go out unmanned boat 203 and complete desired trajectory required by task motor signal controlled quentity controlled variable, unmanned boat is sent a signal to by communication module
Controller, removes the DC brushless motor of control unmanned boat, and relatively common adjustment primary parameter needs one secondary program of download to see effect
Fruit obtains the mode of suitable parameters, relatively efficiently draws the suitable parameters of control algolithm, and program is controlled no longer to need weight
It is multiple to be repeatedly burnt on unmanned boat 203, greatly convenient debugging step.Due to the parameter that debugging obtains and 203 model of unmanned boat
The factors such as the volume size of itself are unrelated, can indoors be debugged with the unmanned boat of selection of small type, and finally debug out and meet
The control algolithm parameter of desired trajectory may be directly applied in practice.
In the present embodiment, control algolithm includes double closed-loop PID algorithm, LQR algorithms, sliding mode control algorithm, self adaptive control
Algorithm, predictive control algorithm may be selected above-mentioned algorithm and be combined to establish 203 orbit tracking movement model of unmanned boat, calculate
Go out the control parameter of unmanned boat 203, and parameter is adjusted.
In the present embodiment, unmanned boat 203 includes twin screw unmanned boat, and single-screw starches tailing rudder unmanned boat and pushes away dress with side
The full driving unmanned boat put.
In the present embodiment, unmanned boat 203 being built indoors and debugs platform, image is gathered by infrared camera and is passed through more
Visually feel that coordinate algorithm calculates the elements of a fix, for more existing GPS positioning technology, it is low and can not be to overcome its positioning accuracy
The deficiency that interior uses, at the same solve existing unmanned boat outdoor lake build debugging plateau time it is long, it is complicated for operation, easily by
The shortcomings of external environment is disturbed.
More than content is only presently preferred embodiments of the present invention, according to the invention for those of ordinary skill in the art
Thought, there will be changes, this specification content should not be construed as to the present invention in specific embodiments and applications
Limitation.
Claims (10)
- A kind of 1. method of debugging unmanned boat, which is characterized in that including：Unmanned boat image is gathered, and parses the space coordinates of the anchor point on ship in isosceles triangle distribution；Space coordinates according to anchor point calculates posture, position and the speed of unmanned boat；According to current location and desired trajectory, the desired speed and convergence reached needed for desired trajectory is parsed by control algolithm Parameter；According to present speed and desired speed, the motor controlled quentity controlled variable reached needed for desired speed is parsed by control algolithm；Motor controlled quentity controlled variable is sent, motor is adjusted according to controlled quentity controlled variable.
- 2. a kind of method of debugging unmanned boat according to claim 1, which is characterized in that acquisition unmanned boat image, And the space coordinates of the anchor point on ship in isosceles triangle distribution is parsed, it is specially：Global coordinate system is preset in debugging region；Gather image of the unmanned boat in debugging region；It identifies in the anchor point of isosceles triangle distribution in image, and passes through multi-vision visual coordinate algorithm, parse anchor point and exist Space coordinates in global coordinate system.
- A kind of 3. method of debugging unmanned boat according to claim 1, which is characterized in that the space according to anchor point Calculating coordinate goes out posture, position and the speed of unmanned boat, is specially：The space coordinates of foundation anchor point parses the point midway (x of two base angle anchor point of isosceles triangle1,y1), and with top Angle anchor point (x2,y2) it is linked to be line segment, parse the midpoint (x of line segmentc,yc) position as unmanned boat；Course angle ψ=atan2 ((y of the unmanned boat in global coordinate system is parsed by arctan function2-y1)/(x2-x1))；Using fore navigation as y-axis, three-dimensional coordinate system is built for x-axis with y-axis vertical-right, and passes through differential position algorithm, global seat Mark system and body coordinate system transformation algorithm parse the forward speed u, lateral velocity v and angular speed r of unmanned boat.
- 4. the method for a kind of debugging unmanned boat according to claim 1, which is characterized in that according to current location and phase It hopes track, the desired speed and convergence parameter reached needed for desired trajectory is parsed by control algolithm；According to present speed and Desired speed parses the motor controlled quentity controlled variable reached needed for desired speed by control algolithm, is specially：According to desired trajectory, unmanned boat orbit tracking movement model is established；The difference of unmanned boat current location and desired trajectory is calculated, error model is built according to difference, to error model derivation, and By Stability Analysis and Design control algolithm, the desired speed of unmanned boat desired trajectory and convergence parameter must be reached；The difference of unmanned boat present speed and desired speed is calculated, unmanned boat track following is established using control algolithm and combination and transports It is dynamic to learn model, obtain the control parameter for the forward speed that unmanned boat need to adjust and the control parameter of phase angle；The forward speed control parameter and Phase angle control parameter that need to be adjusted according to unmanned boat, calculate the control that motor need to adjust Amount.
- 5. the method for a kind of debugging unmanned boat according to claim 1, which is characterized in that the control algolithm includes Double closed-loop PID algorithm, LQR algorithms, sliding mode control algorithm, adaptive control algorithm, predictive control algorithm.
- 6. the method for a kind of debugging unmanned boat according to claim 1, which is characterized in that the unmanned boat is double spiral shells Revolve paddle unmanned boat, single-screw slurry tailing rudder unmanned boat or the full driving unmanned boat with lateral thruster.
- 7. a kind of system of debugging unmanned boat, which is characterized in that including：Control system for parsing the positioning point coordinates and unmanned boat posture of unmanned boat, position and speed, and adjusts unmanned boat Motor；Vision positioning system, for gathering unmanned boat image；Unmanned boat for adjusting the speed of a ship or plane and course, and is navigated by water along expectation track；The control system respectively with vision positioning system and unmanned boat wireless connection；The control system include communication module and Computer control terminal, the communication module are electrically connected with computer control terminal；The vision positioning module includes at least 3 A infrared camera, the infrared camera are fixed on debugging edges of regions, and the alignment lens debugging region of infrared camera Central area；The unmanned boat is equipped with the anchor point of at least three not on the same line, and the anchor point is in isosceles triangle Distribution.
- 8. the system of a kind of debugging unmanned boat according to claim 7, which is characterized in that the anchor point is infrared Transmitting tube or the sphere equipped with the infrared luminescent material of reflection.
- 9. the system of a kind of debugging unmanned boat according to claim 7, which is characterized in that the unmanned boat is double spiral shells Revolve paddle unmanned boat, single-screw slurry tailing rudder unmanned boat or the full driving unmanned boat with lateral thruster.
- A kind of 10. system of debugging unmanned boat according to claim 7, which is characterized in that the infrared camera By being fixed on debugging edges of regions with universal shaft support.
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