CN108427416A - A kind of unmanned boat differential automatic steering control system and control method - Google Patents
A kind of unmanned boat differential automatic steering control system and control method Download PDFInfo
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- CN108427416A CN108427416A CN201810294946.1A CN201810294946A CN108427416A CN 108427416 A CN108427416 A CN 108427416A CN 201810294946 A CN201810294946 A CN 201810294946A CN 108427416 A CN108427416 A CN 108427416A
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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 unmanned boat differential automatic steering control system, including navigation system, the navigation system is used to obtain the information of unmanned ship position, course and speed；Show equipment, the display equipment is for storing desired unmanned boat straight path parameter and display unmanned boat status information；Automatic steering controller, the automatic steering controller is for calculating controlled quentity controlled variable and controlled quentity controlled variable being exported electron governor, the electron speed regulator is for controlling propeller motor speed, automatic steering system proposed by the present invention eliminates the steering-engine of both sides, but propeller is fixed around rotary shaft and hull, by the control algolithm of design, two revolution speed of propeller in automatic adjustment left and right are poor, realize unmanned boat course changing control.
Description
Technical field
The present invention relates to data processing fields, and in particular to arrives a kind of unmanned boat differential automatic steering control system and control
Method.
Background technology
With popularizing for GNSS high-precision Satellite Navigation Techniques, marine charting has become the important side of satellite navigation application
To, and carrier platform of the unmanned boat as equipment such as marine charting equipment such as sounding instruments, play important work in surveying and drawing operation
With.As shown in Figure 1, traditional unmanned boat dynamical system is made of two steering-engines of the propelling screws of left and right two and left and right,
Onward impulse is provided by propeller, and drives left-and-right spiral paddle to be rotated around rotary shaft by steering engine, to change propeller
Force direction is promoted, steering moment is generated and is turned to realizing.It is often plastics in the steering-engine that many middle-size and small-size unmanned boats use
Component due to gear wear in steering procedure is very easy to that steering engine is caused to damage, therefore greatly affected unmanned boat system
Reliability.
Invention content
In order to solve above-mentioned defect, the present invention provides a kind of unmanned boat differential automatic steering control system and controlling parties
Method, to substitute traditional steering engine steering control modes.Automatic steering system proposed by the present invention eliminates the steering-engine of both sides, and
It is to fix propeller around rotary shaft and hull, by the control algolithm of design, two revolution speed of propeller in automatic adjustment left and right are poor,
Realize unmanned boat course changing control.
The present invention provides a kind of unmanned boat differential automatic steering control system, including navigation system, the navigation system
For obtaining unmanned ship position, course and the information of speed；Show equipment, the display equipment is for storing desired unmanned boat
Straight path parameter and display unmanned boat status information；Automatic steering controller, the automatic steering controller are controlled for calculating
Controlled quentity controlled variable is simultaneously exported electron governor by amount processed, and the electron speed regulator is for controlling propeller motor speed.
Above-mentioned a kind of unmanned boat differential automatic steering control system, wherein further include that wireless transport module, propeller are straight
Brushless motor is flowed, the wireless transport module is used to obtain the track data for showing equipment, the spiral shell by wireless transmission method
Rotation paddle DC brushless motor is for driving propeller blade to rotate, and the automatic steering controller is for calculating controlled quentity controlled variable and will control
Amount processed exports electron governor in the form of PWM pulse width signals, and the navigation system is the navigation system that GNSS and IMU is combined
System, the display equipment are that earth station shows equipment.
A kind of above-mentioned unmanned boat differential automatic steering control system, wherein the navigation system of the GNSS and IMU combinations
By serial ports output position, course, velocity information to automatic steering controller, the earth station shows that equipment passes through wireless transmission
Module exports the desired trajectory parameter of storage to automatic steering controller, and the electron speed regulator carries out propeller direct current generator
Speed governing.
The another side of the present invention provides a kind of unmanned boat differential automatic steering control method, includes the following steps：
Step (1):Obtain unmanned ship position, course and velocity information；
Step (2):Calculate lateral deviation and the course deviation of unmanned boat；
Step (3):Establish unmanned boat linearisation kinestate spatial model；
Step (4):Calculate course changing control amount；
Step (5):Calculate pwm signal pulsewidth.
Above-mentioned method, wherein the step (1) specifically includes：Satellite navigation signals are received by GNSS receiver, are obtained
Position and the course information for taking higher precision need to use RTK real time kinematics differential positions；And nothing is measured by IMU
The angular speed and acceleration information of people's ship itself merge measurement data by Kalman filtering algorithm, after output filtering
Unmanned boat position coordinates x and y, course yaw and speed v.
Above-mentioned method, wherein the step (2) specifically includes：It is the directions x to take North coordinate, and east orientation coordinate system is y
Direction, it is expected that the course of straight path is Dyaw, it is expected that straight path equation is：
Ax+by+c=0 (formula 1)
Real-time unmanned ship position, course information and the desired unmanned boat straight path parameter obtained according to step (1)
And desired course, unmanned boat current lateral deviation xt (formula 2) and course deviation xh (formula 3), straight path is calculated
Parameter a, b, c and desired course Dyaw show that equipment is calculated by earth station, and are sent to from turn by wireless transport module
To controller,
Xh=Dyaw-yaw (formula 3).
Above-mentioned method, wherein the step (3) specifically includes：The unmanned boat velocity information v obtained according to step (1)
The lateral deviation xt and course deviation xh obtained with step (2), takes lateral deviation xt and course deviation xh as state, obtains nothing
People's ship linearizes kinestate spatial model (formula 3 and formula 4), so obtain the kinestate matrix A of unmanned boat, B,
C, D, w values indicate that left and right sides propeller shaft linear distance, u indicate the controlled quentity controlled variable of controller in formula；
D=0 (formula 9)
Remember Ts periods in order to control, then it is as follows to obtain discretization state space matrices Ad, Bd, Cd, Dd：
Cd=C (formula 12)
Dd=0 (formula 13).
Above-mentioned method, wherein the step (4) specifically includes：The discretization state space square obtained according to step (3)
The current period lateral deviation xt and course deviation xh that battle array Ad, Bd, Cd, Dd and step (2) calculate, it is pre- according to following MPC models
It surveys control algolithm calculation formula and obtains controlled quentity controlled variable u；
Structural matrix F and G；
Solve controlled quentity controlled variable sequence U；
U=(GTQG+R)-1(GTQ(ref-Fx))(16)；
Ref is reference input vector in formula, is null vector,For current measuring state amount, Q weighs for quantity of state
Weight matrix, R measure weight matrix in order to control, and Np is prediction time domain, Nm time domains in order to control；Q, R, Np and Nm are adjustable control ginseng
Number；First element of U is taken to export u as controlled quentity controlled variable.
Above-mentioned method, wherein the step (5) specifically includes：According to the controlled quentity controlled variable u that step (4) obtains, pass through conversion
Formula (15) and (16) obtain the pwm control signal pulsewidth of left and right electron speed regulator, and corresponding arteries and veins is generated by automatic steering controller
Wide pwm signal, machine governor are rotated according to the pulse width variations control propeller direct current generator received, form speed discrepancy,
It provides unmanned boat to advance and go to thrust, calculation formula is as follows：
Wherein umaxFor maximum revolution speed of propeller, demarcated according to different unmanned ship power situations；PWMminAnd PWMmax
It is the minimum and maximum pwm signal pulsewidth that motor driver receives, receiving signaling protocol by different motor drivers determines；
PWMInitial valueTo provide the PWM components of unmanned boat forward speed, unmanned boat forward speed as needed determines.
The invention has the advantages that：Automatic steering system proposed by the present invention eliminates the steering-engine of both sides,
But fix propeller around rotary shaft and hull, pass through the control algolithm of design, two revolution speed of propeller in automatic adjustment left and right
Difference realizes unmanned boat course changing control.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, the present invention and its feature, outer
Shape and advantage will become more apparent upon.Identical label indicates identical part in whole attached drawings.Not deliberately proportionally
Draw attached drawing, it is preferred that emphasis is the purport of the present invention is shown.
Fig. 1 is traditional unmanned boat steering engine steering structure schematic diagram；
Fig. 2 a, Fig. 2 b are unmanned boat differential auto-steering structural schematic diagrams in the present invention；
Fig. 3 is unmanned boat line tracking schematic diagram in the present invention；
Fig. 4 is unmanned boat differential automatic steering control method schematic diagram in the present invention；
Fig. 5 is unmanned boat differential automatic steering control algorithm flow chart in the present invention；
Specific implementation mode
In the following description, a large amount of concrete details are given in order to provide more thorough understanding of the invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid with the present invention obscure, for some technical characteristics well known in the art not into
Row description.
In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, so as to
Illustrate technical scheme of the present invention.Presently preferred embodiments of the present invention is described in detail as follows, however other than these detailed descriptions, this
Invention can also have other embodiment.
Referring to Fig.1 shown in-Fig. 5, the present invention provides a kind of unmanned boat differential automatic steering control system, including GNSS and
IMU integrated navigation systems, for obtaining the information such as unmanned ship position, course and speed.Earth station shows equipment, is used for storage period
The unmanned boat straight path parameter of prestige, real-time display unmanned boat status information.Automatic steering controller, for calculating controlled quentity controlled variable simultaneously
Controlled quentity controlled variable is exported into electron governor in the form of PWM pulse width signals.Wireless transport module, for passing through wireless transmission method
Obtain the track data that earth station shows equipment.Electron speed regulator, for controlling propeller motor speed.Propeller brush DC
Motor, for driving propeller blade to rotate.Propeller, for providing unmanned boat thrust.It further include automatic steering control system
Power supply, connection cables etc..
In the present invention, the interaction mode between each module is as follows：GNSS and IMU integrated navigation systems pass through serial ports
The information such as output position, course, speed are to automatic steering controller；Earth station shows that equipment is deposited by wireless transport module output
The desired trajectory parameter of storage is to automatic steering controller；Automatic steering controller exports controlled quentity controlled variable electron tune by pwm signal
Fast device；Electron speed regulator carries out speed governing to propeller direct current generator；Propeller direct current generator drives propeller to go to and provides nobody
Ship power.The automatic steering system of the present invention eliminates the steering-engine of both sides, but propeller is consolidated around rotary shaft and hull
Fixed, by the control algolithm of design, two revolution speed of propeller in automatic adjustment left and right are poor, realize unmanned boat course changing control.
The operation principle of the present invention is that：It is combined as shown in figure 3, automatic steering controller obtains GNSS and IMU by serial ports
The earth station that the information such as unmanned boat course, speed and the position of navigation system and wireless transport module obtain shows that equipment is deposited
The expectation running orbit and desired course information of storage calculate course changing control amount by automatic control algorithm according to above- mentioned information, and will
Controlled quentity controlled variable is converted to the PWM pulsewidth input signals of left and right sides propeller motor electronic governor.Electron speed regulator is according to input
Pwm signal, detect pwm signal pulsewidth, adjust propeller motor speed, formed the left and right sides revolution speed of propeller it is poor, and then produce
Raw steering moment, automatically controls unmanned boat and is turned to along desired trajectory.
The another side of the present invention, as shown in figure 5, the unmanned boat automatic steering control method of the present invention, it can be according to following tool
Body step is realized：
Step (1)：Unmanned ship position, course and velocity information are obtained, is specifically included：
On the one hand satellite navigation signals (such as GPS, Galileo, Ge Lanasi and Beidou navigation system are received by GNSS receiver
System), in order to obtain position and the course information of higher precision, need to use RTK real time kinematics differential positions, on the other hand
The angular speed and acceleration information of unmanned boat itself are measured by IMU (Inertial Measurement Unit).Above-mentioned data are filtered by Kalman
Wave algorithm is merged, and exports the metrical informations such as filtered unmanned boat position coordinates x and y, course yaw and speed v, here
Position and course are at local level coordinate system (NED or ENU coordinate systems).Output information is exported by serial ports to auto-steering
Controller.
Step (2)：Lateral deviation and course deviation are calculated, is specifically included：
Schematic diagram is tracked as Fig. 2 a, Fig. 2 b show unmanned boat straight path, it is the directions x to take North coordinate, and east orientation is sat
Mark system is the directions y, it is expected that the course of straight path is Dyaw, it is expected that straight path equation is：
Ax+by+c=0 (formula 1)
Real-time unmanned ship position, course information and the desired unmanned boat straight path parameter obtained according to step (1)
And desired course, unmanned boat current lateral deviation xt (formula 2) and course deviation xh (formula 3) is calculated.Straight path
Parameter a, b, c and desired course Dyaw show that equipment is calculated by earth station, and are sent to from turn by wireless transport module
To controller；
Xh=Dyaw-yaw (formula 3)
Step (3)：Discrete system state space equation matrix is calculated, is specifically included：
The lateral deviation xt and course deviation that the unmanned boat velocity information v and step (2) obtained according to step (1) is obtained
Xh takes lateral deviation xt and course deviation xh as state, obtains unmanned boat linearisation kinestate spatial model (formula 3
With formula 4), and then the kinestate matrix A of unmanned boat, B, C, D are obtained, w values indicate left and right sides propeller shaft in formula
Linear distance, u indicate the controlled quentity controlled variable of controller.
D=0 (formula 9)
Remember Ts periods in order to control, then it is as follows to obtain discretization state space matrices Ad, Bd, Cd, Dd：
Cd=C (formula 12)
Dd=0 (formula 13).
Step (4)：Course changing control amount is calculated, is specifically included：
The current week that discretization state space matrices Ad, Bd, Cd, the Dd and step (2) obtained according to step (3) is calculated
Phase lateral deviation xt and course deviation xh obtains controlled quentity controlled variable u according to following MPC Model Predictive Control Algorithms calculation formula.
Structural matrix F and G
Solve controlled quentity controlled variable sequence U
U=(GTQG+R)-1(GTQ(ref-Fx)) (16)
Ref is reference input vector in formula, is null vector,For current measuring state amount, Q weighs for quantity of state
Weight matrix, R measure weight matrix in order to control, and Np is prediction time domain, Nm time domains in order to control；Q, R, Np and Nm are adjustable control ginseng
Number；First element of U is taken to export u as controlled quentity controlled variable.
Step (5)：Pwm signal pulsewidth is calculated, is specifically included：
According to the controlled quentity controlled variable u that step (4) obtains, left and right electron speed regulator is obtained by conversion formula (15) and (16)
Pwm control signal pulsewidth is generated the pwm signal of corresponding pulsewidth by automatic steering controller.Machine governor is according to receiving
Pulse width variations control the rotation of propeller direct current generator, form speed discrepancy, provide unmanned boat advance and go to thrust.Calculation formula is such as
Under：
Wherein umaxFor maximum revolution speed of propeller, demarcated according to different unmanned ship power situations；PWMminAnd PWMmax
It is the minimum and maximum pwm signal pulsewidth that motor driver receives, receiving signaling protocol by different motor drivers determines；
PWMInitial valueTo provide the PWM components of unmanned boat forward speed, unmanned boat forward speed as needed determines.
In the present invention, as shown in figure 4, the unmanned boat automatic steering control method feature of the present invention is as follows：This controlling party
Method is based on the control algolithm for measuring negative-feedback, and the difference by calculating desired value and value of feedback controls error, mistake here
Difference includes lateral deviation and course deviation, and brings control error into controller and calculate controlled quentity controlled variable；This control method is to be based on nothing
The control algolithm of people's ship kinematics model has used the state-space model in modern control theory in algorithm, has passed through MPC models
PREDICTIVE CONTROL solves to obtain controlled quentity controlled variable；The automatic steering controller of this automatic steering system and the output signal of electron speed regulator are
Pwm signal indicates to transmit controlled quentity controlled variable size by PWM pulsewidths；Electron speed regulator has positive and negative rotating function, when in input signal
When in maximum pulse width, propeller motor generates maximum forward rotating speed, when pwm input signal is minimum value, propeller motor
Generate maximum reverse rotating speed；This control method is exported with two-way PWM pulse width signals, and the PWM arteries and veins that controlled quentity controlled variable is converted
Bandwidth signals decompose left and right sides electron speed regulator.When left screw motor accelerates, right side propeller decelerating through motor, nothing
People's ship turns to the right；When left screw decelerating through motor, right side propeller motor accelerates, and unmanned boat turns to the left；Work as both sides
When propeller motor speed is identical, unmanned boat does not turn to.Both sides propeller motors may rotation direction is identical may also be opposite.
In the present invention, as shown in Figure 2 b, unmanned boat differential automatic steering system proposed by the present invention is by GNSS and IMU groups
Close navigation system, earth station show equipment, automatic steering controller, wireless transport module, electron speed regulator, propeller motor,
Propeller and attached power supply and connection cables composition；Wherein GNSS and IMU integrated navigation systems can receive GPS, Jia Li
Slightly, the satellite navigation system signals such as Ge Lanasi and the Big Dipper improve Real-Time Positioning, by Kalman filtering using RTK technologies
Satellite navigation data and IMU data fusions are obtained more accurate unmanned ship position, speed and course information, and passed through by algorithm
Data information is sent to automatic steering controller by serial ports；Earth station shows equipment to show unmanned boat physical location, speed
And course information, movement track parameters and desired course it is expected in storage, and are sent the data to automatically by wireless transport module
Steering controller；Automatic steering controller according to current unmanned ship position, course and the desired trajectory parameters received and
Course data calculates lateral deviation and the course deviation of unmanned boat and desired trajectory, establishes the state-space model of unmanned boat, and
State space matrices are updated, bringing lateral deviation, course deviation and state matrix into MPC control algorithm calculates unmanned boat steering control
Amount processed finally converts course changing control amount to certain pulsewidth pwm control signal that has of left and right sides electron speed regulator input, right
Propeller motor carries out speed governing, and formation left and right sides revolution speed of propeller is poor, automatically controls unmanned boat steering.
In the present invention, as shown in figure 3, unmanned boat automatic steering control method proposed by the present invention, lateral deviation and boat
By unmanned boat real time position, course and it is expected that straight path equation and desired course are calculated according to the formula to deviation
It arrives；As shown in figure 4, unmanned boat differential automatic steering control method proposed by the present invention, is to be based on negative-feedback MPC control algorithm,
The unmanned ship position and course data that the measurement data source GNSS and IMU integrated navigation systems of control are measured.Controlling error is
The lateral deviation xt and course that the desired motion track of facility planning and above-mentioned metrical information are calculated are shown by earth station
Deviation xh；As shown in figure 5, unmanned boat differential automatic steering control method proposed by the present invention, calculation process are first to obtain GNSS
With IMU integrated navigation data, then the desired trajectory data that earth station shows equipment storage are obtained, according to above-mentioned data and current
Controlling cycle, more new system separate manufacturing firms matrix model, then state matrix, lateral deviation and course deviation bring MPC controls into
Algorithm processed carries out controlled quentity controlled variable solution, and the controlled quentity controlled variable of solution is finally transformed into left and right sides electron speed regulator according to calculation formula
Pwm signal pulsewidth is inputted, propeller motor speed is controlled.
In the embodiment of the present invention one preferably and not restrictive, propeller motor and hull are directly connected to, without rotation
Propeller direction.
In one embodiment preferably and not restrictive of the present invention, including propeller motor, there are one left and right is each, and it is opposite
Hull center line is symmetrically installed.
In the embodiment of the present invention one preferably and not restrictive, pass through between automatic steering controller and electron speed regulator
Pwm signal transmits controlled quentity controlled variable, and pwm signal pulsewidth indicates controlled quentity controlled variable size, and further preferably, automatic steering controller has two-way
PWM pulse width signals control two electron speed regulators in left and right, further preferably, two-way PWM pulse width signals, when unmanned boat is turned left respectively
Xiang Shi, right side PWM pulsewidths are more than left side PWM pulsewidths, and when unmanned boat turns to the right, left side PWM pulsewidths are more than right side PWM arteries and veins
Width, when unmanned boat does not turn to, left side both sides PWM pulsewidths are equal.
In the embodiment of the present invention one preferably and not restrictive, GNSS and IMU integrated navigation systems and auto-steering control
Device processed by serial ports carry out data transfer and earth station show equipment and automatic steering controller by wireless transport module into
Row data transfer, further preferably, earth station show that equipment and automatic steering controller can be by wireless transport module
WIFI, bluetooth module or wireless data sending.
In the embodiment of the present invention one preferably and not restrictive, the lateral deviation of automatic steering controller input data and boat
What the desired trajectory and course parameter that are issued to deviation by earth station's display equipment and GNSS the and IMU integrated navigations inputted
Actual measurement location and course are calculated according to calculation formula of the present invention.
In the embodiment of the present invention one preferably and not restrictive, automatic steering controller is led according to GNSS and IMU combinations
The velocity information that boat system provides, establishes unmanned boat system state space model, and discrete shape is calculated according to formula of the present invention
State space matrix model Ad, Bd, Cd, Dd.
In the embodiment of the present invention one preferably and not restrictive, controlled quentity controlled variable is according to state space matrices, lateral deviation, boat
To deviation and separate manufacturing firms matrix, obtained by MPC control algorithm calculation formula.
Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, wherein the equipment and structure be not described in detail to the greatest extent are construed as giving reality with the common mode in this field
It applies；Any technical person familiar with the field, without departing from the scope of the technical proposal of the invention, all using the disclosure above
Methods and technical content many possible changes and modifications are made to technical solution of the present invention, or be revised as equivalent variations etc.
Embodiment is imitated, this is not affected the essence of the present invention.Therefore, every content without departing from technical solution of the present invention, foundation
The technical spirit any simple modifications, equivalents, and modifications made to the above embodiment of the present invention, still fall within the present invention
In the range of technical solution protection.
Claims (9)
1. a kind of unmanned boat differential automatic steering control system, which is characterized in that including navigation system, the navigation system is used for
Obtain the information of unmanned ship position, course and speed；Show equipment, the display equipment is for storing desired unmanned boat straight line
Trajectory parameters and display unmanned boat status information；Automatic steering controller, the automatic steering controller is for calculating controlled quentity controlled variable
And controlled quentity controlled variable is exported into electron governor, the electron speed regulator is for controlling propeller motor speed.
2. a kind of unmanned boat differential automatic steering control system as described in claim 1, which is characterized in that further include wirelessly passing
Defeated module, propeller DC brushless motor, the wireless transport module, which is used to obtain by wireless transmission method, shows equipment
Track data, for driving propeller blade to rotate, the automatic steering controller is used for the propeller DC brushless motor
Calculate controlled quentity controlled variable and controlled quentity controlled variable export into electron governor in the form of PWM pulse width signals, the navigation system be GNSS with
The navigation system of IMU combinations, the display equipment are that earth station shows equipment.
3. a kind of unmanned boat differential automatic steering control system as claimed in claim 2, which is characterized in that the GNSS and
For the navigation system of IMU combinations by serial ports output position, course, velocity information to automatic steering controller, the earth station is aobvious
Show that equipment exports the desired trajectory parameter of storage to automatic steering controller, the electron speed regulator pair by wireless transport module
Propeller direct current generator carries out speed governing.
4. a kind of unmanned boat differential automatic steering control method, which is characterized in that include the following steps：
Step (1):Obtain unmanned ship position, course and velocity information；
Step (2):Calculate lateral deviation and the course deviation of unmanned boat；
Step (3):Establish unmanned boat linearisation kinestate spatial model；
Step (4):Calculate course changing control amount；
Step (5):Calculate pwm signal pulsewidth.
5. a kind of unmanned boat differential automatic steering control method as claimed in claim 4, which is characterized in that the step (1)
It specifically includes：Satellite navigation signals are received by GNSS receiver, position and the course information of higher precision is obtained, needs to use
RTK real time kinematics differential positions；And the angular speed and acceleration information of unmanned boat itself are measured by IMU, it will measure
Data are merged by Kalman filtering algorithm, export filtered unmanned boat position coordinates x and y, course yaw and speed v.
6. a kind of unmanned boat differential automatic steering control method as claimed in claim 5, which is characterized in that the step (2)
It specifically includes：It is the directions x to take North coordinate, and east orientation coordinate system is the directions y, it is expected that the course of straight path is Dyaw, it is expected that
Straight path equation is：
Ax+by+c=0 (formula 1)
The real-time unmanned ship position, course information and the desired unmanned boat straight path parameter that are obtained according to step (1) and phase
It hopes course, unmanned boat current lateral deviation xt (formula 2) and course deviation xh (formula 3), straight path parameter is calculated
A, b, c and desired course Dyaw show that equipment is calculated by earth station, and are sent to auto-steering control by wireless transport module
Device processed,
Xh=Dyaw-yaw (formula 3).
7. a kind of unmanned boat differential automatic steering control method as claimed in claim 6, which is characterized in that the step (3)
It specifically includes：The lateral deviation xt and course deviation that the unmanned boat velocity information v and step (2) obtained according to step (1) is obtained
Xh takes lateral deviation xt and course deviation xh as state, obtains unmanned boat linearisation kinestate spatial model (formula 3
With formula 4), and then the kinestate matrix A of unmanned boat, B, C, D are obtained, w values indicate left and right sides propeller shaft in formula
Linear distance, u indicate the controlled quentity controlled variable of controller；
D=0 (formula 9)
Remember Ts periods in order to control, then it is as follows to obtain discretization state space matrices Ad, Bd, Cd, Dd：
Cd=C (formula 12)
Dd=0 (formula 13).
8. a kind of unmanned boat differential automatic steering control method as claimed in claim 7, which is characterized in that the step (4)
It specifically includes：The current week that discretization state space matrices Ad, Bd, Cd, the Dd and step (2) obtained according to step (3) is calculated
Phase lateral deviation xt and course deviation xh obtains controlled quentity controlled variable u according to following MPC Model Predictive Control Algorithms calculation formula；
Structural matrix F and G；
Solve controlled quentity controlled variable sequence U；
U=(GTQG+R)-1(GTQ(ref-Fx)) (16)；
Ref is reference input vector in formula, is null vector,For current measuring state amount, Q is quantity of state weight square
Battle array, R measure weight matrix in order to control, and Np is prediction time domain, Nm time domains in order to control；Q, R, Np and Nm are adjustable control parameter；
First element of U is taken to export u as controlled quentity controlled variable.
9. a kind of unmanned boat differential automatic steering control method as claimed in claim 8, which is characterized in that the step (5)
It specifically includes：According to the controlled quentity controlled variable u that step (4) obtains, left and right electron speed regulator is obtained by conversion formula (15) and (16)
Pwm control signal pulsewidth, generated the pwm signal of corresponding pulsewidth by automatic steering controller, and machine governor is according to receiving
Pulse width variations control the rotation of propeller direct current generator, form speed discrepancy, provide unmanned boat and advance and go to thrust, calculation formula is such as
Under：
Wherein umaxFor maximum revolution speed of propeller, demarcated according to different unmanned ship power situations；PWMminAnd PWMmaxIt is electricity
The minimum and maximum pwm signal pulsewidth that machine driver receives receives signaling protocol by different motor drivers and determines；PWMInitial value
To provide the PWM components of unmanned boat forward speed, unmanned boat forward speed as needed determines.
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109358495A (en) * | 2018-12-05 | 2019-02-19 | 山东智翼航空科技有限公司 | Unmanned boat pitch-rotational speed difference, which subtracts, shakes stability augmentation system and method |
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| CN109669347B (en) * | 2018-12-05 | 2024-04-02 | 山东智翼航空科技有限公司 | Unmanned ship rotating speed differential stabilization system and method |
| CN109358495A (en) * | 2018-12-05 | 2019-02-19 | 山东智翼航空科技有限公司 | Unmanned boat pitch-rotational speed difference, which subtracts, shakes stability augmentation system and method |
| CN111366151A (en) * | 2018-12-26 | 2020-07-03 | 北京信息科技大学 | Information fusion method for ship navigation in polar region |
| CN109866885A (en) * | 2019-04-12 | 2019-06-11 | 北京虹湾威鹏信息技术有限公司 | A kind of unmanned boat is prevented stranded with relevant method of relying on oneself |
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| CN110203366B (en) * | 2019-06-13 | 2020-08-28 | 上海彩虹鱼海洋科技股份有限公司 | Method for controlling the travel of an unmanned ship with a front-mounted vector propulsion system |
| CN110203366A (en) * | 2019-06-13 | 2019-09-06 | 上海彩虹鱼海洋科技股份有限公司 | Preposition vector propulsion system peculiar to vessel |
| CN111538336B (en) * | 2020-05-20 | 2023-11-21 | 西交利物浦大学 | Unmanned ship control system |
| CN111538336A (en) * | 2020-05-20 | 2020-08-14 | 西交利物浦大学 | Unmanned ship control system |
| CN111986518A (en) * | 2020-08-31 | 2020-11-24 | 上海大学 | Unmanned ship cooperative communication control system |
| CN112180915A (en) * | 2020-09-16 | 2021-01-05 | 哈尔滨工业大学（威海） | ROS-based double-thrust unmanned ship motion control system and control method |
| CN112891961A (en) * | 2021-02-02 | 2021-06-04 | 曹金波 | Method and device for linking model airplane remote controller and electric vehicle controller |
| CN114212215A (en) * | 2021-12-14 | 2022-03-22 | 深圳市博特动力技术有限公司 | Novel ship steering control method and system |
| CN114212215B (en) * | 2021-12-14 | 2023-02-03 | 深圳市博特动力技术有限公司 | Novel ship steering control method and system |
| CN115437387A (en) * | 2022-11-08 | 2022-12-06 | 中国船舶重工集团公司第七一九研究所 | Ship attitude control system based on human-machine engineering |
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