CN108594807A - A kind of unmanned water surface ship dog leg path tracking control system and method - Google Patents
A kind of unmanned water surface ship dog leg path tracking control system and method Download PDFInfo
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- CN108594807A CN108594807A CN201810298448.4A CN201810298448A CN108594807A CN 108594807 A CN108594807 A CN 108594807A CN 201810298448 A CN201810298448 A CN 201810298448A CN 108594807 A CN108594807 A CN 108594807A
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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 invention discloses a kind of unmanned water surface ship dog leg path tracking control system and methods, control system includes data acquisition unit, data processing unit, power control unit, and the data acquisition unit obtains the latitude and longitude information of unmanned water surface ship and bow is to angle and output is to data processing unit；The data processing unit includes path tracking algorithm module and motion control arithmetic module, the path tracking algorithm module will calculate the deviation between unmanned water surface ship and preset path, and deviation is exported and gives motion control arithmetic module, the motion control arithmetic module obtains control command according to the deviation between unmanned water surface ship and preset path, and control command is transferred to power control unit；The movement of the power control unit control unmanned boat.The present invention can not only realize the straight line path tracking of drive lacking unmanned water surface ship, and can also realize that dog leg path tracks so that unmanned water surface ship can more meet the path trace requirement in navigation practice.
Description
Technical field
The invention belongs to Intelligent unattended ship technical field, be related to a kind of unmanned water surface ship dog leg path tracking control system and
Method.
Background technology
Unmanned water surface ship is the unattended ship of a kind of automation realized based on telecommunication technique and automatic control technology
Ship, it can execute various tasks instead of the mankind in complicated marine environment.Unmanned water surface ship has mobility strong, convenient for hidden
The advantages that covering, being mounted on other naval vessels can be applied to search, rescue, monitoring, scouting, detection, marine charting and geology
Sampling etc..Path trace is to realize one of the key technology of intellectually and automatically of unmanned water surface ship, the realization pair of the problem
The development of unmanned water surface ship technology has great significance.
In the past few years, the tracking control problem of unmanned water surface ship receives always the extensive concern of related field research institution.
As the patent of Publication No. CN103760902A (publication date is on April 30th, 2014) discloses a kind of nothing based on fuzzy control
People's water surface ship straight line path tracking, the starting point of unmanned water surface ship need not on target trajectory, can arbitrary initial course angle, energy
Arbitrary line path is tracked, and avoids the big overshoot imagination of pid algorithm appearance and big detour phenomenon, but the patent proposes
Method do not consider unmanned water surface ship input saturation the case where.(Z.Zheng the and L.Sun, " Path such as Z.Zheng
following control for marine surface vessel with uncertainties and input
Saturation, " Neurocomputing) be based on the adaptive radial basis function neural network of contragradience, it is proposed that in one robust from
The unmanned water surface ship path tracking control method of adaptation, this method do not consider to more practical irregular dog leg path with
Track.
Invention content
Technical problem to be solved by the present invention lies in provide one kind in view of the deficiency of the prior art not only can
It realizes the straight line path tracking of unmanned water surface ship, and can also realize that dog leg path tracks so that unmanned water surface ship can more meet
The unmanned water surface ship dog leg path tracking control system and method that path trace in navigation practice requires.
The technical solution adopted in the present invention is：A kind of unmanned water surface ship dog leg path tracking control system, feature exist
In：Including data acquisition unit, data processing unit, power control unit,
The data acquisition unit includes GPS receiver module and earth induction module, the GPS receiver module and ground magnetic strength
Answer module obtain respectively unmanned water surface ship latitude and longitude information and bow to angle and export to data processing unit；
The data processing unit includes path tracking algorithm module and motion control arithmetic module, and the path trace is calculated
Method module will calculate the deviation between unmanned water surface ship and preset path, and deviation is exported and gives motion control arithmetic module,
The motion control arithmetic module obtains control command according to the deviation between unmanned water surface ship and preset path, and control is ordered
Order is transferred to power control unit；
The movement of the power control unit control unmanned boat.
According to the above technical scheme, the motion control arithmetic module can be according between unmanned water surface ship and preset path
Deviation, judges the motion state adjustment mode of unmanned water surface ship, and show that control command is exported to power train control module.
According to the above technical scheme, the path tracking algorithm module includes straight line path track algorithm and dog leg path tracking
Algorithm, the straight line path tracking strategy is with carrot chasing (path following method based on virtual target) straight line path
Based on track algorithm, the virtual target point of dynamic change is added in preset path, controls unmanned water surface ship towards virtual target
Point is close, and the update rule for the virtual target point being designed correctly under the premise of considering input saturation and time-varying interference；Institute
Dog leg path track algorithm is stated when unmanned water surface ship traces into one section of straight line path tail end, if virtual target point is not straight in this section
On thread path, then unmanned water surface ship starts to track on next section of straight line path.
According to the above technical scheme, the power control unit includes servos control module, Servo-controller and hydraulic propeller,
The servos control module receives the control command of data processing unit output, generates electric signal and is sent to Servo-controller and water spray
Propeller, the Servo-controller are encouraged by electric signal and are rotated, and drive the water spout of unmanned water surface ship to swing, and then make unmanned water surface
Ship turns to, and the hydraulic propeller is encouraged fast turn-around by electric signal, and power is provided for unmanned water surface ship.
The present invention also provides a kind of unmanned water surface ship dog leg path tracking and controlling methods, it is characterised in that：Including as follows
Step：S1, the latitude and longitude information that unmanned water surface ship is obtained using data acquisition unit and bow are to angle information, data acquisition unit packet
Include GPS receiver module and earth induction module；
S2, the deviation between unmanned water surface ship and preset path is calculated using path tracking algorithm module；
S3, motion control arithmetic module judge unmanned water surface ship according to the deviation between unmanned water surface ship and preset path
Motion state adjustment mode, and show that control command is exported to power train control module；
The course of S4, power train control module control unmanned water surface ship.
According to the above technical scheme, the path tracking algorithm module includes straight line path track algorithm and dog leg path tracking
Algorithm, the straight line path tracking strategy is with carrot chasing (path following method based on virtual target) straight line path
Based on track algorithm, the virtual target point of dynamic change is added in preset path, controls unmanned water surface ship towards virtual target
Point is close, and virtual target point is with the change in location of unmanned water surface ship and constantly according to Policy Updates；The dog leg path tracking
Algorithm when unmanned water surface ship traces into one section of straight line path tail end, if virtual target point not on this section of straight line path, nothing
People's water surface ship starts to track on next section of straight line path.
It is obtained by the present invention to have the beneficial effect that：
The beneficial effects of the invention are as follows：
1, the present invention can not only realize the straight line path tracking of drive lacking unmanned water surface ship, and can also realize dog leg path
Tracking so that unmanned water surface ship can more meet the path trace requirement in navigation practice；
2, the characteristics of considering the maneuvering performance and path tracking algorithm of unmanned water surface ship passes through integrated guidance, navigation
With control to realize the path trace problem of drive lacking unmanned water surface ship；
3, dog leg path tracking strategy can make unmanned water surface ship make rudder in advance when turning to, and avoid and occur when steering
Big detour phenomenon；
4, method provided by the invention considers input saturation and time-varying disturbed condition, improves unmanned water surface ship tracking road
Safety during diameter and anti-interference.
Description of the drawings
Fig. 1 is the principle of the present invention block diagram.
Fig. 2 is hydraulic propeller mechanical construction drawing.
Fig. 3 is unmanned water surface ship Three Degree Of Freedom illustraton of model.
Fig. 4 is straight line path tracing figure.
Fig. 5 is dog leg path tracking strategy figure.
Fig. 6 is unmanned water surface ship modular concept figure.
Fig. 7 is emulation experiment pursuit path figure.
Fig. 8 is emulation experiment trajector deviation figure.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of unmanned water surface ship dog leg path tracking control system is present embodiments provided, including data are adopted
Collect unit, data processing unit, power control unit,
The data acquisition unit includes GPS receiver module and earth induction module, the GPS receiver module and ground magnetic strength
Answer module obtain respectively unmanned water surface ship latitude and longitude information and bow to angle and export to data processing unit；
The data processing unit includes path tracking algorithm module and motion control arithmetic module, and the path trace is calculated
Method module will calculate the deviation between unmanned water surface ship and preset path, and deviation is exported and gives motion control arithmetic module,
The motion control arithmetic module obtains control command according to the deviation between unmanned water surface ship and preset path, and control is ordered
Order is transferred to power control unit；
The path tracking algorithm module includes straight line path track algorithm and dog leg path track algorithm, the straight line path
The void of dynamic change is added based on carrot chasing straight line path track algorithms in diameter tracking strategy in preset path
Quasi- target point, control unmanned water surface ship is close towards virtual target point, and under the premise of considering input saturation and time-varying interference
The update rule for the virtual target point being designed correctly；The dog leg path track algorithm traces into one section of straight line in unmanned water surface ship
When the tail end of path, if virtual target point, not on this section of straight line path, unmanned water surface ship starts to track next section of straight line path
On.
The motion control arithmetic module can judge unmanned water according to the deviation between unmanned water surface ship and preset path
The motion state adjustment mode of face ship, and show that control command is exported to power train control module.
The power control unit includes servos control module, Servo-controller and hydraulic propeller, the servos control mould
Block receives the control command of data processing unit output, generates electric signal and is sent to Servo-controller and hydraulic propeller, described to watch
It takes steering engine and is encouraged rotation by electric signal, drive the water spout of unmanned water surface ship to swing, and then unmanned water surface ship is made to turn to, the spray
Water propeller is encouraged fast turn-around by electric signal, and power is provided for unmanned water surface ship.
The present invention also provides a kind of unmanned water surface ship dog leg path tracking and controlling methods, it is characterised in that：Including as follows
Step：
To angle information, data acquisition is single for S1, the latitude and longitude information that unmanned water surface ship is obtained using data acquisition unit and bow
Member includes GPS receiver module and earth induction module；
S2, the deviation between unmanned water surface ship and preset path is calculated using path tracking algorithm module；
S3, motion control arithmetic module judge unmanned water surface ship according to the deviation between unmanned water surface ship and preset path
Motion state adjustment mode, and show that control command is exported to power train control module；
The course of S4, power train control module control unmanned water surface ship.
Its specific tracking is as follows：
The mechanical structure of the unmanned water surface ship of hydraulic jet propulsion is used as shown in Fig. 2, Se is the steering engine of responsible steering operation.O
It is the center of gravity of unmanned water surface ship.Relationship between servos control angle η and water jet angle δ：
In formula, l1With l2The length of steering engine and water spout swinging head connecting rod is indicated respectively.Assuming that δ ∈ [- π/3, π/3], if
Keep the deformation of connecting rod between steering engine and hydraulic propeller negligible, only need to make η → 0, and haveTherefore it need to only make l2＜ ＜ l1, you can allow steering engine with spray
The deformation of connecting rod is ignored between water propeller.
Control object：
The motion model of unmanned water surface ship is as shown in Fig. 3, under the premise of ignoring the movements such as rolling, pitching, heaving, nothing
The motion process of people's water surface ship can be described as a Three Degree Of Freedom model, the ship that Three Degree Of Freedom is shown as respectively in the planes
Surging, swaying, yawing campaign.ζ E ξ coordinate systems are earth coordinates, and ζ axis is directed toward the earth north, and ξ axis is directed toward the earth east, xoy
Coordinate system is hull coordinate system, and x-axis is directed toward immediately ahead of hull, and y-axis is directed toward hull right direction.By to constructed coordinate system
It is analyzed, it can be deduced that unmanned water surface ship motion model below
In formula, m is the quality of unmanned water surface ship；IzzIt is the rotary inertia around hull coordinate origin of unmanned water surface ship；
(xG,yG) it is center of gravity of the unmanned water surface ship in hull coordinate system；X∑, Y∑, N∑It is unmanned water surface ship system respectively in (x, y) axis
The power that the phorogenesis power and yawing that direction is subject to are subject to；U, v, γ are surging of the unmanned water surface ship along (x, y) axis direction respectively
With swaying speed and yawing speed,For its corresponding derivative；V is speed of the unmanned water surface ship in earth coordinates
Degree, Vξ, VζRespectively unmanned water surface ship in earth coordinates along the speed of ξ axis and ζ axis,It corresponding is led for its
Number.
The update rule of virtual target point：
Unmanned water surface ship straight line path track algorithm process is as shown in Fig. 4, it is assumed that WiWith Wi+1Straight line between 2 points is
Preset path, p (x, y) represent unmanned water surface ship current location,The current bow of unmanned water surface ship is represented to angle, Δ is drift angle, ψ
For the course angle of unmanned boat, q (xq,yq) point be unmanned water surface ship position p points in straight line WiWi+1On projection.Unmanned water surface ship
The distance between 2 points of vertical range, that is, q and p apart from preset path are d, and s points are virtual target points.The distance between q and s
It is λ, λ is self-defined by user.Analyze attached drawing 3, it can be deduced that the relational expression between following parameters：
In formula, | | Wi- p | | indicate WiEuler's distance between point and p points, | | p-q | | Euler between p points and q points away from
From d is path trace error amount, i.e. the distance between unmanned water surface ship and preset path.When becoming drift angle when it is present, Δ (t)
≠ 0, by following control rule, the influence of time-varying drift angle can be eliminated.
Virtual target point s (xt,yt) coordinate according to following Policy Updates：
Virtual target point s (xt,yt) position be position real-time update with unmanned boat, in the feelings that there is input saturation
Under condition, unmanned boat will not can not track s points because input reaches saturation state, overcome the case where input is saturated.
Dog leg path tracks steer arithmetic：
As shown in Fig. 5, it on the basis of unmanned water surface ship straight line path tracking strategy, arrives and turns when the navigation of unmanned water surface ship
When near point B, by the position for the virtual target point being calculated, if virtual target point has exceeded the range of AB, nobody
Water surface ship starts to track BC sections of paths.
Emulation experiment：
It is simulation object to this hair using attached hydraulic jet propulsion unmanned water surface ship shown in fig. 6 to verify effectiveness of the invention
It is bright to be emulated.In order to allow the result of emulation that there can be higher confidence level, contingency is excluded, three groups of default roads are devised
Diameter.T=3N, m=30kg, m=30kg are set in emulation experiment, and λ=3m, δ ∈ [- π/3, π/3], the sampling interval, Δ t was taken as one
Second.Attached drawing 7 illustrates the horizontal plane of straight line path tracking and dog leg path tracking two schemes proposed by the present invention
Path trace curve.
Attached drawing 8 illustrate straight line path tracking and dog leg path tracking two schemes proposed by the present invention with
Track aberration curve, it can be seen that simulation result of the invention is substantially better than straight line path tracking.Show folding proposed by the present invention
Circuit path tracing control method is more suitable for unmanned water surface ship path following control than classical path point-tracking method.
Claims (6)
1. a kind of unmanned water surface ship dog leg path tracking control system, it is characterised in that：Including data acquisition unit, data processing
Unit, power control unit,
The data acquisition unit includes GPS receiver module and earth induction module, the GPS receiver module and earth induction mould
Block obtains the latitude and longitude information of unmanned water surface ship respectively and bow is to angle and output is to data processing unit；
The data processing unit includes path tracking algorithm module and motion control arithmetic module, the path tracking algorithm mould
Block will calculate the deviation between unmanned water surface ship and preset path, and deviation is exported and gives motion control arithmetic module, described
Motion control arithmetic module obtains control command according to the deviation between unmanned water surface ship and preset path, and control command is passed
It is defeated by power control unit；
The movement of the power control unit control unmanned boat.
2. unmanned water surface ship dog leg path tracking control system according to claim 1, it is characterised in that：The movement control
Algoritic module processed according to the deviation between unmanned water surface ship and preset path, can judge the motion state adjustment of unmanned water surface ship
Mode, and show that control command is exported to power train control module.
3. unmanned water surface ship dog leg path tracking control system according to claim 1 or 2, it is characterised in that：The road
Diameter track algorithm module includes straight line path track algorithm and dog leg path track algorithm, the straight line path track algorithm be
The virtual target point of dynamic change is added in preset path, control unmanned water surface ship is close towards virtual target point, virtual target point
With the change in location of unmanned water surface ship constantly according to Policy Updates；The dog leg path track algorithm unmanned water surface ship with
When track is to one section of straight line path tail end, if virtual target point is not on this section of straight line path, unmanned water surface ship starts under tracking
On one section of straight line path.
4. unmanned water surface ship dog leg path tracking control system according to claim 1 or 2, it is characterised in that：It is described dynamic
Power control unit includes servos control module, Servo-controller and hydraulic propeller, and the servos control module receives data processing
The control command of unit output generates electric signal and is sent to Servo-controller and hydraulic propeller, and the Servo-controller is by electric signal
Excitation rotation drives the water spout of unmanned water surface ship to swing, and then unmanned water surface ship is made to turn to, and the hydraulic propeller is by telecommunications
Number excitation fast turn-around, provide power for unmanned water surface ship.
5. a kind of unmanned water surface ship dog leg path tracking and controlling method, it is characterised in that：Include the following steps：
S1, the latitude and longitude information that unmanned water surface ship is obtained using data acquisition unit and bow are to angle information, data acquisition unit packet
Include GPS receiver module and earth induction module；
S2, the deviation between unmanned water surface ship and preset path is calculated using path tracking algorithm module；
S3, motion control arithmetic module judge the fortune of unmanned water surface ship according to the deviation between unmanned water surface ship and preset path
Dynamic state adjustment mode, and show that control command is exported to power train control module；
The course of S4, power train control module control unmanned water surface ship.
6. unmanned water surface ship dog leg path tracking and controlling method according to claim 5, it is characterised in that：The path with
Track algoritic module includes straight line path track algorithm and dog leg path track algorithm, and the straight line path track algorithm is default
The virtual target point of dynamic change is added in path, control unmanned water surface ship is close towards virtual target point, and virtual target point is with nothing
The change in location of people's water surface ship and constantly according to Policy Updates；The dog leg path track algorithm is traced into unmanned water surface ship
When one section of straight line path tail end, if virtual target point, not on this section of straight line path, unmanned water surface ship starts to track next section
On straight line path.
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| CN109765916A (en) * | 2019-03-26 | 2019-05-17 | 武汉欣海远航科技研发有限公司 | A kind of unmanned surface vehicle path following control device design method |
| CN110018689A (en) * | 2019-05-15 | 2019-07-16 | 福州大学 | A kind of more virtual target point overall situation active path planning algorithms based on dynamic window |
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| CN111650932A (en) * | 2020-05-18 | 2020-09-11 | 武汉理工大学 | Unmanned ship broken line track tracking control method, controller and unmanned ship |
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| CN112764432A (en) * | 2019-10-21 | 2021-05-07 | 上海大学 | Unmanned ship track tracking system and method |
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| CN109765916A (en) * | 2019-03-26 | 2019-05-17 | 武汉欣海远航科技研发有限公司 | A kind of unmanned surface vehicle path following control device design method |
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| CN112764432A (en) * | 2019-10-21 | 2021-05-07 | 上海大学 | Unmanned ship track tracking system and method |
| CN112764432B (en) * | 2019-10-21 | 2022-02-11 | 上海大学 | Unmanned ship track tracking system and method |
| CN111487966A (en) * | 2020-04-13 | 2020-08-04 | 哈尔滨工程大学 | Self-adaptive path tracking control method for unmanned surface vehicle based on waypoints |
| CN111487966B (en) * | 2020-04-13 | 2022-09-09 | 哈尔滨工程大学 | Self-adaptive path tracking control method for unmanned surface vehicle based on waypoints |
| CN111650932A (en) * | 2020-05-18 | 2020-09-11 | 武汉理工大学 | Unmanned ship broken line track tracking control method, controller and unmanned ship |
| CN111650932B (en) * | 2020-05-18 | 2021-05-18 | 武汉理工大学 | Unmanned ship broken line track tracking control method, controller and unmanned ship |
| CN111798701A (en) * | 2020-07-07 | 2020-10-20 | 中国船舶工业系统工程研究院 | Unmanned ship path tracking control method, system, storage medium and terminal |
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