CN108415423A - A kind of high interference immunity Adaptive Path follower method and system - Google Patents
A kind of high interference immunity Adaptive Path follower method and system Download PDFInfo
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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 relates to a kind of high interference immunity Adaptive Path follower method and systems.Given expected path point, it would be desirable to which path point and water Air China luggage are input to guide module processed for real-time position information, and desired course state ψ is calculated by high interference immunity Adaptive Path follower methodd；By desired course state ψdWith the water Air China luggage of device module filtered obtained by course transmitter module and filtered course state deviation absolute value e (k) is obtained for actual heading status information ψ, and CFDL_MFAC controller modules are input to, output expectation instruction u (k) to operating mechanism module；Operating mechanism module receives and executes expectation instruction u (k) (such as desired rudder angle) so that the standby constantly approach desired course ψ of water Air China luggaged.The present invention is not need to rely on system model, can effectively resist flow interference, insensitive on the uncertain influence such as model perturbation and noise, has good robustness and adaptivity, can the upper expected path of fast driving unmanned vehicles tracking.
Description
Technical field
The present invention relates to a kind of path follower method and system, especially a kind of high interference immunity Adaptive Path follower method and
System.
Background technology
It refers to that ship is navigated by water according to certain expected path that path, which follows, in the engineer application of ship, many Practical Projects
Problem can be abstracted as path and follow problem.Such as：Ships will enjoy access to the ports and navigation channel, undersea pipe-laying, sea chart are drawn, ocean
Hydrographic survey, biochemical pollutant monitoring etc..Therefore, research unmanned vehicles path follows problem to have important theory and work
Journey is worth.But ship is vulnerable to the uncertain influence of external environment and the interference of flow in marine environment, this can make ship
Tracking expected path accuracy reduces, and even results in mission failure.
It is directed to ship path follower method at present, more similarly：Publication date is August in 2015 19, Publication No.
CN104850122A, it is entitled " based on variable captain than resistance crosswind unmanned water surface ship straight line path tracking "
Patent application, this method are a kind of unmanned boat path follower methods for resisting crosswind, for different captains by the difference of wind effect,
In conjunction with fuzzy control, captain's ratio is adjusted, and then adjust course angle, to realize that straight line path tracks, document " is based on asymmetric mould
The drive lacking USV path following controls of type ", based on variable captain than resistance crosswind unmanned water surface ship straight line path tracking
In enable the angle of sightλ is positive parameter related with captain so that the guidance algorithm is suitable
For the path trace of curve, and angle of sight ψ* losIt can adaptively be adjusted according to tracking error, to reach quickening tracking error
The effect of convergence rate.But the above method does not solve flow interference problem.
Invention content
For the above-mentioned prior art, technical problem solved by the invention is to provide a kind of with robustness, adaptivity
, water resistant drains off the high interference immunity Adaptive Path follower method disturbed and system.
In order to solve the above technical problems, a kind of high interference immunity Adaptive Path follower method of the present invention, includes the following steps：
Step 1：Expected path order is inputted, expected path is made of N number of expected path point, expected path point P=(P1,
P2,P3…Pn) N >=2, wherein n-th of expected path point Pn=(xn,yn), 1≤n ＜ N, initialization enables n=1, initialization safety away from
From threshold value a, a is the constant more than 0.
Step 2：Obtain path point Pn=(xn,yn) and Pn+1=(xn+1,yn+1) 2 line straight line paths and obtain straight line
Path direction angle ψpn, ψpnIt indicates the angle of straight line path and X-axis positive direction, meets：
ψpn2 (y of=a tann+1-yn,xn+1-xn),ψpn∈[-π,π]
Step 3：Standby position (the x of the water Air China luggage that is measured in real time according to sensort,yt), path point PnCoordinate (xn,
yn) and path direction angle ψpnObtain tracking error Ze, ZeMeet：
Ze=-(xt-xn)sin(ψpn)+(yt-yn)cos(ψpn)
Step 4：Design closure radius of circle Rn, RnMeet：
Wherein,β is normal number, for adjusting with the dynamic behaviour to process, and β ＞ 1；
Step 5：By ZeAnd RnCrossover distance Δ is found out, Δ meets：
Step 6：Calculate angle of sight ψ* los, angle of sight ψ* losMeet：
ψ* los=arctan (- KP*Zei-Ki*ξ(Zei)), i=1,2 ...
Wherein, ZeiFor the tracking error of system operation ith,KiFor the adjustable parameter of integral term, ξ (Zei) full
Foot：
Wherein, Δ t indicates the time step of system operation, ZemaxIt is the related parameter of the length standby with water Air China luggage；
Step 7：Obtain desired course ψd, ψdMeet：
ψd=ψ* los+ψpn
Step 8：Water Air China luggage standby actual heading state ψ and real time position are obtained, ψ includes warship ship's headThe angle and
The information of speed r enablesWherein k1For parameter related with ship dynamics characteristic, k appropriate is taken1Value calculates
ψdAnd the difference of ψ obtains e (k), and k indicates system operation kth time.
Step 9：It regard e (k) as CFDL-MFAC (redefining tight format dynamical linearization model-free adaptive controller)
The input of direction controller, resolves expectation instruction u (k), and steering engine or velocity differential mechanism execute expectation instruction u (k), utilize
CFDL-MFAC (redefining tight format dynamical linearization MFA control algorithm) algorithm solution process meets：
Wherein, ρ ∈ (0,1] be step factor, η ∈ (0,1] be step factor, μ ＞ 0 be weight coefficient, λ ＞ 0 be often become
Amount, φ (k) are pseudo- partial derivative,K pseudo- Partial derivative estimation value is run for method,Puppet is inclined when running k-1 for method
Derivative estimated value, Δ y (k) are that heading system when heading system output quantity when method is run k times is run k-1 times with method is defeated
The difference of output, u (k) are that heading system it is expected that input, u (k-1) are course system when method is run k-1 times when method is run k times
System it is expected that input, Δ u (k-1) are that heading system it is expected heading system when input is run k-2 times with method when method is run k-1 times
It is expected that the difference of input, ε is one fully small normal, ε ∈ (0,0.001].
Step 10：According to the standby real time position of water Air China luggage, it is standby apart from expected path point P to calculate water Air China luggagen+1's
Distance PL executes step 11 as PL ＜ a；As PL >=a, step 3 is executed；
Step 11：As n+1=N, terminate；As n+1 ＜ N, n=n+1 is enabled, executes step 2.
A kind of path system for tracking based on high interference immunity Adaptive Path follower method of the present invention inputs expected path point,
Generate expected path；Believe the standby constantly position of water Air China luggage obtained by expected path point information and by position sensor module
Breath is input to guide module processed, and desired course state ψ is calculated by the high interference immunity Adaptive Path follower methodd；By the phase
Hope course state ψdWith the standby practical boat of the water Air China luggage of device module filtered obtained by course transmitter module and filtered
It is made the difference to state ψ, obtain course state deviation e (k) and is input to CFDL-MFAC controllers, output expectation instruction u (k) to behaviour
Vertical mechanism module；Operating mechanism module receives and executes expectation instruction u (k), and implementing result is input to water Air China row assembling die
Block, the standby constantly approach desired course ψ of Ling Shui Air China luggaged。
Beneficial effects of the present invention：The present invention only needs to input expected path point under flow interference, is navigated by water according in water
The constantly position and improved line of sight method of equipment calculate the desired course angle on naval vessel, in combination with CFDL-MFAC
(compact form dynamic linearization model free adaptive control) Heading control algorithm,
Naval vessel can be made quickly to reduce tracking error, driving naval vessel constantly converges on expected path.The naval vessel of proposition it is adaptive
Path follower method is not need to rely on system model, and can effectively resist flow interference, not true to model perturbation and noise etc.
Fixing sound is insensitive, has good robustness and adaptivity, can the upper expected path of fast driving unmanned vehicles tracking.It will
Tracking error is introduced into the resolving of convergence radius of circle and the angle of sight, in combination with MFAC Heading control algorithms, can effectively be disappeared
Water removal drain off disturb, the adverse effect brought to naval vessel of uncertain factors such as model perturbation.
Description of the drawings
Fig. 1 is high interference immunity Adaptive Path follower method flow diagram；
Fig. 2 is high interference immunity Adaptive Path system for tracking block diagram；
Specific implementation mode
Naval vessel in the present invention refers to that sensu lato various water Air China luggage is standby, as underwater robot, underwater submarine, nobody
Water surface ship, above water craft etc., above-mentioned various water Air China luggage are standby all in the application range of the present invention.It illustrates below in conjunction with the accompanying drawings
The present invention is described in more detail.
Present invention is generally directed to tracking of the naval vessel to straight line path under uncertain water currents.Key step includes：(1)
Expected path order is inputted, expected path is made of N number of expected path point, expected path point P=(P1,P2,P3…Pn) N >=2,
Wherein Pn=(xn,yn), it indicates that the coordinate of n-th of expected path point, 1≤n ＜ N, initialization enable n=1, initializes safe distance
Threshold value a, a is the constant more than 0, unit m.(2) according to path point Pn=(xn,yn) and Pn+1=(xn+1,yn+1) obtain at 2 points
Line straight line path, and obtain straight line path deflection ψpn.(3) according to the naval vessel position (x measured in real timet,yt), in combination with
The coordinate P of n-th of path pointn=(xn,yn) and path direction angle ψpnInformation tracking error Z is calculatede.It (4) will convergence
Radius of circle RnIt is set asWherein, ZeFor tracking error,β is positive parameter, for adjusting with comprehensive
The dynamic behaviour of process, and β ＞ 1.(5) by ZeAnd RnCrossover distance Δ can be found out.(6) influence for considering flow interference, will regard
Line angle ψ* losSolution be improved to ψ* los=arctan (- KP*-Ki*ξ(Zei)), i=1,2 ...,KiFor integral term
Adjustable parameter, Δ are crossover distance.(7) calculated angle of sight ψ* losWith ψpnThe sum of as desired course ψd.(8) according to ψdWith
The actual heading state ψ on naval vessel calculates ψdAnd the difference of ψ obtains e (k), and k indicates system operation kth time, and ψ includes warship ship's headWith
The letter of angular speed r enablesWherein k is parameter related with ship dynamics characteristic, considers a kind of extreme case
When the bow on naval vessel is to when increasing to 180 degree, subsequent time becomes -180 degree, is worked as by theory deductionWhen,
Middle TSIndicate that output redefinition formula CFDL-MFAC algorithm performs primary time, Δ u (k) are to redefine output type CFDL-MFAC
The expectation rudder for it is expected naval vessel when rudder angle and output redefinition formula MFAC algorithm performs kth -1 time on naval vessel when algorithm performs kth time
The difference at angle, K, T are the maneuverability coefficient on naval vessel.Take k appropriate1Value, so that the heading system on naval vessel meets CFDL-MFAC
Requirement of the algorithm to controlled system " pseudo-linear " assumed condition.(9) input by e (k) as CFDL-MFAC direction controllers,
Expectation instruction u (k) (such as desired rudder angle) is resolved, steering engine or velocity differential mechanism execute expectation instruction u (k) and then execute step
(8).(10) according to the constantly position p on naval vesselt=(xt,yt) and road through a position Pn=(xn,yn), calculate naval vessel and path point
Distance PL is executed (11) as PL ＜ a, as PL >=a, is executed (3).(11) as n+1=N, terminate；As n+1 ＜ N, n=n is enabled
+ 1, it executes (2).
In conjunction with Fig. 1, under flow disturbed condition, method includes the following steps：
Step 1：Expected path order is inputted, expected path is made of N number of expected path point, expected path point P=(P1,
P2,P3…Pn) N >=2, wherein n-th of expected path point coordinates Pn=(xn,yn), 1≤n ＜ N, initialization enables n=1, initializes
The threshold value of safe distance is a, and a is the constant more than 0, unit m.
Step 2：Obtain path point Pn=(xn,yn) and Pn+1=(xn+1,yn+1) 2 line straight line paths and obtain straight line
Path direction angle ψpn, ψpnIt indicates the angle of straight line path and X-axis positive direction, meets：
ψpn2 (y of=a tann+1-yn,xn+1-xn),ψpn∈[-π,π]
Step 3：Standby position (the x of the water Air China luggage that is measured in real time according to sensort,yt), path point PnCoordinate (xn,
yn) and path direction angle ψpnObtain tracking error Ze, ZeMeet：
Ze=-(xt-xn)sin(ψpn)+(yt-yn)cos(ψpn)
Step 4：Design closure radius of circle Rn, RnMeet：
Wherein,β is positive constants, for adjusting with the dynamic behaviour to process, and β ＞ 1；
Step 5：By ZeAnd RnCrossover distance Δ is found out, Δ meets：
Step 6：Calculate angle of sight ψ* los, angle of sight ψ* losMeet：
ψ* los=arctan (- KP*Zei-Ki*ξ(Zei)), i=1,2 ...
Wherein,KiFor the adjustable parameter of integral term, ξ (Zei) meet：
Wherein, ZemaxIt is the related parameter of the length standby with water Air China luggage, the present invention takes ZemaxIt is standby for water Air China luggage
100-200 times of length.
Step 7：Obtain desired course ψd, ψdMeet：
ψd=ψ* los+ψpn
Step 8：According to ψdWith the actual heading state ψ on naval vessel, ψ is calculateddAnd the difference of ψ obtains e (k)；
Step 9：Input by e (k) as CFDL_MFAC direction controllers resolves expectation instruction u (k), steering engine or speed
It spends differential attachment and executes expectation instruction u (k), execute step 8, CFDL_MFAC Heading control algorithms are as follows, can be by e using following formula
(k) it finds out expectation and inputs u (k)：
Wherein, ρ ∈ (0,1] be step factor, η ∈ (0,1] be step factor, μ ＞ 0 be weight coefficient, λ ＞ 0 be often become
Amount, φ (k) are pseudo- partial derivative,K pseudo- Partial derivative estimation value is run for method,Puppet is inclined when running k-1 for method
Derivative estimated value, Δ y (k) are that heading system when heading system output quantity when method is run k times is run k-1 times with method is defeated
The difference of output, u (k) are that heading system it is expected that input, u (k-1) are course system when method is run k-1 times when method is run k times
System it is expected that input, Δ u (k-1) are that heading system it is expected heading system when input is run k-2 times with method when method is run k-1 times
It is expected that the difference of input, ε be a fully small normal number ε ∈ (0,0.001].
Step 10：According to the constantly position p on naval vesselt=(xt,yt) and road through a position Pn=(xn,yn), calculate naval vessel with
The distance PL of path point executes step 11 as PL ＜ a；As PL >=a, step 3 is executed；
Step 11：As n+1=N, terminate；As n+1 ＜ N, n=n+1 is enabled, executes step 2.
In conjunction with Fig. 2, under flow disturbed condition, tracking control system includes the following steps：
Step 1：Expected path dot command is inputted, expected path is generated.
Step 2：According to expected path and naval vessel current location information, desired course is calculated by Fig. 1 guidance algorithms
ψd；
Step 3：Course control system uses CFDL-MFAC control methods, according to actual heading status information ψ, calculates ψd
And the difference of ψ obtains e (k), and k indicates system operation kth time, and ψ includes warship ship's headWith the information of angular speed r, enableWherein k is parameter related with ship dynamics characteristic, k values appropriate is taken, so that warship ship's head system
System meets requirement of the CFDL-MFAC algorithms to controlled system " pseudo-linear " assumed condition, and e (k) is controlled as the courses CFDL_MFAC
The input of device processed resolves expectation instruction u (k).
Step 4：Steering engine or velocity differential mechanism receive and execute expectation instruction u (k), to drive naval vessel constantly to approach
Desired course.
Step 5：The position on naval vessel is constantly updated, and course constantly changes, and navigation is observed in real time by sensors such as magnetic compasses
Device posture, and feed back in course control system, real-time location information is fed back in guidance system, repeats step 2, until
The upper expected path of naval vessel tracking, realizing route follow.
A kind of high interference immunity Adaptive Path follower method, includes the following steps：
(1) expected path order is inputted, expected path is made of N number of expected path point, expected path point P=(P1,P2,
P3…Pn) N >=2, wherein n-th of expected path point Pn=(xn,yn), 1≤n ＜ N, initialization enable n=1, initialization safety away from
From threshold value a, a is the constant more than 0, unit m.
(2) according to path point Pn=(xn,yn) and Pn+1=(xn+1,yn+1) obtain 2 line straight line paths, and obtain straight
Thread path deflection ψpn。
(3) according to the naval vessel position (x measured in real timet,yt), in combination with n-th of path point Pn=(xn,yn) coordinate with
And path direction angle ψpnInformation tracking error Z is calculatede。
It (4) will convergence radius of circle RnIt is set asWherein, ZeFor tracking error,N is positive ginseng
Number, for adjusting the dynamic behaviour with comprehensive process, and β ＞ 1.
(5) by ZeAnd RnCrossover distance Δ can be found out.
(6) influence for considering flow interference now, by angle of sight ψ* losSolution be improved to ψ* los=arctan (- KP*-
Ki*ξ(Zei)), i=1,2 ...,Wherein KiFor the adjustable parameter of integral term, Δ is crossover distance.
(7) calculated angle of sight ψ* losWith ψpnThe sum of as desired course ψd。
(8) according to ψdWith the actual heading state ψ on naval vessel, ψ is calculateddAnd the difference of ψ obtains e (k), and k indicates system operation kth time,
ψ includes warship ship's headWith the letter of angular speed r, enableWherein k is ginseng related with ship dynamics characteristic
Number considers a kind of extreme case when the bow on naval vessel is to when increasing to 180 degree, and subsequent time becomes -180 degree, passes through theory deduction
WhenWhen, wherein TSIndicate that output redefinition formula CFDL-MFAC algorithm performs primary time, Δ u (k) attach most importance to
The rudder angle on naval vessel and output redefinition formula MFAC algorithm performs kth -1 time when defining output type CFDL-MFAC algorithm performs kth time
When naval vessel rudder angle difference, K, T be naval vessel maneuverability coefficient, take k values appropriate so that naval vessel heading system meet
Requirement of the CFDL_MFAC algorithms to controlled system " pseudo-linear " assumed condition.
(9) input by e (k) as CFDL-MFAC direction controllers resolves expectation instruction u (k) (such as desired rudder angle),
Steering engine or velocity differential mechanism execute expectation instruction u (k), then execute step (8).
(10) according to the constantly position p on naval vesselt=(xt,yt) and road through a position Pn=(xn,yn), calculate naval vessel and path
The distance PL of point is executed (11) as PL ＜ a, as PL >=a, is executed (3).
(11) as n+1=N, terminate；As n+1 ＜ N, n=n+1 is enabled, is executed (2).
A kind of Adaptive Path follower method on naval vessel further includes：
(1) consider convergence radius of circle RkValue, as lateral error ZeAbsolute value be more than RnWhen, above-mentioned guidance can be caused
Algorithm fails, it is therefore desirable to change RnAdapt to continually changing Ze, and make ZeZero is rapidly converged to, following formula is represented by：
Wherein,N is positive parameter, for adjusting the dynamic behaviour for following process, and β ＞ 1；Above formula ensures R simultaneouslynIt is more than
Lateral error ZeCondition.
(2) consider flow interference, ψ* losSolution be improved to, ψ* los=arctan (- KP*Zei-Ki*ξ(Zei)), i=1,
2 ...,KiFor the adjustable parameter of integral term, ZeiFor the tracking error of system operation ith, Δ is crossover distance, ξ
(Zei) to embody form as follows：
Wherein, Δ t indicates the time step of system operation, ZemaxIt is parameter related with the length on naval vessel, the present invention takes
ZemaxIt is water Air China luggage for 100-200 times of length.
Claims (2)
1. a kind of high interference immunity Adaptive Path follower method, it is characterised in that：Include the following steps：
Step 1：Expected path order is inputted, expected path is made of N number of expected path point, expected path point
P=(P1,P2,P3…Pn) N >=2, wherein n-th of expected path point Pn=(xn,yn), 1≤n ＜ N, initialization enables n=1, just
The threshold value a, a of beginningization safe distance are the constant more than 0.
Step 2：Obtain path point Pn=(xn,yn) and Pn+1=(xn+1,yn+1) 2 line straight line paths and obtain straight line path
Deflection ψpn, ψpnIt indicates the angle of straight line path and X-axis positive direction, meets：
ψpn=atan2 (yn+1-yn,xn+1-xn),ψpn∈[-π,π]
Step 3：Standby position (the x of the water Air China luggage that is measured in real time according to sensort,yt), path point PnCoordinate (xn,yn) with
And path direction angle ψpnObtain tracking error Ze, ZeMeet：
Ze=-(xt-xn)sin(ψpn)+(yt-yn)cos(ψpn)
Step 4：Design closure radius of circle Rn, RnMeet：
Wherein,β is normal number, for adjusting with the dynamic behaviour to process, and β ＞ 1；
Step 5：By ZeAnd RnCrossover distance Δ is found out, Δ meets：
Step 6：Calculate angle of sight ψ* los, angle of sight ψ* losMeet：
ψ* los=arctan (- KP*Zei-Ki*ξ(Zei)), i=1,2 ...
Wherein, ZeiFor the tracking error of system operation ith,KiFor the adjustable parameter of integral term, ξ (Zei) meet：
Wherein, Δ t indicates the time step of system operation, ZemaxIt is the related parameter of the length standby with water Air China luggage；
Step 7：Obtain desired course ψd, ψdMeet：
ψd=ψ* los+ψpn
Step 8：Water Air China luggage standby actual heading state ψ and real time position are obtained, ψ includes warship ship's headAnd angular speed
The information of r enablesWherein k1For parameter related with ship dynamics characteristic, k appropriate is taken1Value calculates ψdWith ψ
Difference obtain e (k), k indicates system operation kth time.
Step 9：It regard e (k) as CFDL-MFAC (redefining tight format dynamical linearization model-free adaptive controller) course
The input of controller, resolves expectation instruction u (k), and steering engine or velocity differential mechanism execute expectation instruction u (k), utilize CFDL-
MFAC (redefining tight format dynamical linearization MFA control algorithm) algorithm solution process meets：
As | Δ u (k-1) |≤ε orOr
Wherein, ρ ∈ (0,1] be step factor, η ∈ (0,1] be step factor, μ ＞ 0 be weight coefficient, λ ＞ 0 be Chang Bianliang, φ
(k) it is pseudo- partial derivative,K pseudo- Partial derivative estimation value is run for method,Puppet partial derivative is estimated when running k-1 for method
Evaluation, Δ y (k) are heading system output quantity when heading system output quantity when method is run k times is run k-1 times with method
Difference, u (k) are that heading system it is expected that input, u (k-1) are that heading system it is expected when method is run k-1 times when method is run k times
Input, Δ u (k-1) are that heading system it is expected that heading system it is expected defeated when input is run k-2 times with method when method is run k-1 times
The difference entered, ε are one fully small normal, ε ∈ (0,0.001].
Step 10：According to the standby real time position of water Air China luggage, it is standby apart from expected path point P to calculate water Air China luggagen+1Distance
PL executes step 11 as PL ＜ a；As PL >=a, step 3 is executed；
Step 11：As n+1=N, terminate；As n+1 ＜ N, n=n+1 is enabled, executes step 2.
2. a kind of path system for tracking of the high interference immunity Adaptive Path follower method based on claim 1, it is characterised in that：It is defeated
Enter expected path point, generates expected path；It will be navigated by water in expected path point information and the water obtained by position sensor module
Constantly location information is input to guide module processed to equipment, and expectation boat is calculated by the high interference immunity Adaptive Path follower method
To state ψd；By desired course state ψdWith the water Air China of device module filtered obtained by course transmitter module and filtered
Luggage makes the difference for actual heading state ψ, obtains course state deviation e (k) and is input to CFDL-MFAC controllers, output it is expected
Instruct u (k) to operating mechanism module；Operating mechanism module receives and executes expectation instruction u (k), and implementing result is input to water
Air China's row equipment module, the standby constantly approach desired course ψ of Ling Shui Air China luggaged。
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