CN108663939A - Consider the UUV level of constellation face path tracking control method of communication packet loss - Google Patents
Consider the UUV level of constellation face path tracking control method of communication packet loss Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
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Abstract
The present invention is to provide a kind of UUV level of constellation face path tracking control methods considering communication packet loss.The Three Degree Of Freedom nonlinear model of UUV is reduced to second order Affine Systems using feedback linearization；The continuous dynamical equations of UUV are converted into discrete form using the method for direct discretization；Design considers the UUV level of constellation face path following control device of communication packet loss；The position and speed of each UUV in UUV clusters is acquired using the controller；It transfers information in UUV specified in communication topological diagram, is brought into the dynamical equation of each UUV position and speed is obtained, calculate the driving force of each executing agency and the numerical value of driving moment；Controlled quentity controlled variable is input to the driving device corresponding to aircraft executing agency, realizes that more UUV clusters keep rank and track expected path.The present invention, which can effectively ensure that, still to keep rank there are more UUV clusters in the case of packet loss in communication and completes horizontal plane path trace task.
Description
Technical field
The present invention relates to a kind of horizontal plane path tracking control methods of underwater unmanned vehicle cluster.
Background technology
UUV (underwater unmanned vehicle) is that a kind of exploration of completion Underwater resources, object are salvaged and environmental monitoring etc. is underwater
The important tool of task, it is at low cost, small due to its features such as, UUV by the data that navigation device measures may determine that from
The location information of body and the self informations such as speed and posture are judged by Doppler anemometer and gyroscope, to complete to environment
It perceives and subsea tasks is realized by control algolithm.But the appreciable limitations being limited in scope with quantity of single UUV, it cannot
The tasks such as exploration and the search of large area are completed, can not complete that target is surrounded and seize and wait complex tasks.The path trace of more UUV clusters
Ability is exactly to realize the important technology premise of above-mentioned task.Each aircraft in more UUV clusters is by sonar into the friendship of row information
It changes, after the position and the velocity information that obtain other aircraft, the formation and navigation rail of setting is realized using consistency controller
Mark.But in complicated marine environment, the case where information that sonar is propagated has delay and packet loss, occurs, in UUV clusters
Aircraft cannot be guaranteed the condition of real-time communication, it is therefore desirable to ensure that more UUV clusters are still in the case where communication condition is bad
It keeps rank and completes assignment of mission.
For the path following control of UUV clusters, more path tracking control method only for continuous time condition, such as
Pan great Wei is in article《The underwater multi-robot formation control that Artificial Potential Field and virtual architecture are combined》(2017 are published in, engineer
Journal, the 2nd phase) and Zhao Ningning in article《More AUV based on path parameter consistency cooperate with path following control》It is published in
2015, firepower is controlled with guidance, the 10th phase) proposed in formation method so that more aircraft is formed into columns after can track the phase
Hope path.But communication propagates and can only utilize sonar between the UUV in deep-sea, and to include the data such as accelerator be all other sensors
Discrete information data.
Invention content
The purpose of the present invention is to provide one kind can effectively ensure that communication there are more UUV clusters in the case of packet loss according to
The considerations of so keeping rank and complete horizontal plane path trace task communicates the UUV level of constellation face path following control side of packet loss
Method.
The object of the present invention is achieved like this：
(1) the Three Degree Of Freedom nonlinear model of UUV is reduced to second order Affine Systems using feedback linearization；
(2) the continuous dynamical equations of UUV are converted into discrete form using the method for direct discretization；
(3) design considers the UUV level of constellation face path following control device of communication packet loss；
(4) position, posture and the speed of each UUV in UUV clusters are acquired using the controller；
(5) transfer information to specified in communication topological diagram in UUV, obtain position, posture and speed bring into it is each
In the dynamical equation of UUV, the driving force of each executing agency and the numerical value of driving moment are calculated；
(6) controlled quentity controlled variable is input to the driving device corresponding to aircraft executing agency, realizes that more UUV clusters keep rank
And track expected path.
The present invention can also include：
1. step (1) specifically includes：The Three Degree Of Freedom nonlinear model established is：
It is wherein vectorialAnd vectorPosition and the Eulerian angles of UUV are respectively represented
State vector and UUV itself velocity state vectors, J (η) is Jacobian transition matrixes, and I is unit matrix, M-1It is used
Property inverse of a matrix matrix, W (v) is the sum of the centripetal matrix of Coriolis and damping matrix, and γ (ξ) is coefficient matrix, uτControlled quentity controlled variable；
The dynamical equation of UUV is expressed as the affine form of second order：
μ=r (ξ).
2. step (2) specifically includes：The discrete model is：
vi[k+1]=vi[k]+(T-τij(k))ui[k]
Coordinate transforming is：
X=[r1(ξ) r2(ξ) r3(ξ)]
V=[Lpr1(ξ) Lpr2(ξ) Lpr3(ξ)]
Input is ui=Τ (ξ)+Γ (ξ) uτ, wherein Τ (ξ) is as follows：
3. the communication of communication packet loss described in is delayed unbounded situation as τij(k) meet T- τ according to probability Pij(k) ＞ τ0, it is assumed that
More UUV systems are in nqCommunication structure figure in a period and scheme centainly that there are one spanning trees.P indicates the successful probability of communication,
There are a positive integer nss, meet 1≤ns≤nq, only in period [k+ (ns-1),k+ns) interior UUViIt is successfully received UUVj。
4. horizontal plane path following control device described in is：
xd(k) it is the ship trajectory of expected path, that is, virtual pilotage people, vd(k) it is the velocity amplitude of virtual pilotage people, siFor
The initial position co-ordinates that UUV clusters are formed into columns, sdFor the initial position co-ordinates of virtual pilotage people, β1(k)=(2/ (T- τij(k))2)α1
(k) and β2(k)=(2/ (T- τij(k))2)α2(k), α1、α2It is controller gain, aij(k)、bij(k) be respectively UUV position and
Element in adjacency matrix corresponding to speed topological diagram,It is the position between virtual pilotage people and UUV clusters respectively
It sets and element, σ in adjacency matrix corresponding to speed topological diagramij(t) it is weighted value.
5. step (5) specifically includes：It obtains position and speed to bring into the dynamical equation of each UUV, calculates each hold
The driving force of row mechanism and the numerical value of driving moment are：
uτi(k)=Γ-1(xi(k))[ui(k)-T(xi(k))]。
In order to solve the problems, such as that the horizontal plane path following control of UUV clusters under the conditions of discrete message, the present invention propose
A kind of UUV level of constellation face path tracking control method considering communication packet loss, is especially adapted for use in underwater unmanned vehicle and exists
There are the horizontal plane path tracking control methods of the UUV clusters of packet drop for communication under the conditions of discrete message.
It is empty that the method for the present invention can effectively solve level of constellation face of underwater unmanned vehicle under the conditions of discrete message
Between path following control problem.Considering underwater unmanned vehicle transmission information, there are the spies that environmental disturbances and communication distance influence
Point devises the UUV level of constellation face path tracking control method for considering communication packet loss, acquire the position of each UUV, posture and
After speed, by obtain position and attitude and speed bring into the controller of each UUV calculate each executing agency driving force and
The numerical value of driving moment, then controlled quentity controlled variable is input to the driving device corresponding to aircraft executing agency, it is ensured that more UUV collection
Group keeps rank and tracks expected path.
Description of the drawings
Fig. 1 is to consider that the UUV level of constellation face path tracking control method flow of communication packet loss is shown under the conditions of discrete message
It is intended to；
Fig. 2 is the communication topological relation figure of each aircraft of UUV clusters；
Fig. 3 is the change in location situation map in UUV clusters east orientation direction of each member in path tracking procedure；
Fig. 4 is the change in location situation map in UUV clusters north orientation direction of each member in path tracking procedure；
Fig. 5 is the angle change situation map of UUV clusters angle of yaw of each member in path tracking procedure；
Fig. 6 is the surging velocity variations situation map of UUV clusters each member in path tracking procedure；
Fig. 7 is the swaying velocity variations situation map of UUV clusters each member in path tracking procedure；
Fig. 8 is the course angle velocity variations situation map of UUV clusters each member in path tracking procedure；
Fig. 9 is UUV level of constellation face ship trajectory figure.
Specific implementation mode
In actual marine environment, generally it can all be interfered by environment when more UUV carry out information exchange under water, because
The input of this control aircraft movement can be influenced by being delayed.But the information collection of UUV is all based on the letter of discrete time
Breath, therefore some cannot be applied well for the control algolithm of continuous time.Therefore it is directed under discrete conditions, and examines
The agreement for considering the more UUV that there is communication delay and packet loss just has realistic meaning.A kind of consideration provided by the invention is logical
The UUV level of constellation face path tracking control method of packet loss is interrogated, key step includes：First with feedback linearization by UUV's
Three Degree Of Freedom nonlinear model carries out being reduced to second order Affine Systems；Secondly method is obtained using direct discretization continuously to move UUV
State equation is expressed as discrete form.Location information may be used with velocity information individual transmission and provide the topological structure of communication
Figure reduces single communication information amount to greatest extent.Then design considers the UUV level of constellation face path trace control of communication packet loss
Method processed, and acquire using the controller of design the position and speed of each UUV in UUV clusters；Communication is transferred information to again
It in UUV specified in topological diagram, is brought into the dynamical equation of each UUV position and speed is obtained, calculates each execution machine
The driving force of structure and the numerical value of driving moment；Controlled quentity controlled variable is finally input to the driving device corresponding to aircraft executing agency,
Realize that more UUV clusters keep rank and track expected path.
Preferably, the Three Degree Of Freedom nonlinear model of the foundation is：
It is wherein vectorialAnd vectorPosition and the Eulerian angles of UUV are respectively represented
State vector and UUV itself velocity state vectors.
The dynamical equation of UUV is expressed as the affine form of second order：
μ=r (ξ)
Preferably, the discrete model is：
vi[k+1]=vi[k]+(T-τij(k))ui[k]
Coordinate transforming is：
X=[r1(ξ) r2(ξ) r3(ξ)]
V=[Lpr1(ξ) Lpr2(ξ) Lpr3(ξ)]
Input is ui=Τ (ξ)+Γ (ξ) uτ, wherein Τ (ξ) is as follows：
Preferably, the communication packet drop is τij(k) meet T- τ according to probability Pij(k) ＞ τ0, P indicates to communicate successful
Probability.There are a positive integer nss, meet 1≤ns≤nq, only in period [k+ (ns-1),k+ns) interior UUViIt is successfully received
UUVj。
Preferably, the UUV level of constellation face path tracking control method of the consideration communication packet loss, which is characterized in that
Coordination control protocol based on the Design of Mathematical Model under discrete time acquires coordinate after in UUV clusters the posture of each aircraft and
Speed restrains the horizontal plane path following control device unanimously proposed：
xd(k) it is expected path, i.e., the ship trajectory of virtual pilotage people, vd(k) it is the velocity amplitude of virtual pilotage people.siFor
The initial position co-ordinates that UUV clusters are formed into columns, sdFor the initial position co-ordinates of virtual pilotage people.β1(k)=(2/ (T- τij(k))2)α1
(k)andβ2(k)=(2/ (T- τij(k))2)α2(k)。α1, α2It is controller gain, aij(k), bij(k) be respectively UUV position
With element in adjacency matrix corresponding to speed topological diagram,It is between virtual pilotage people and UUV clusters respectively
Element in adjacency matrix corresponding to position and speed topological diagram, σij(t) it is weighted value.
Preferably, the position and speed that obtains is brought into the dynamical equation of each UUV, calculates each executing agency
The numerical value of driving force and driving moment is：
uτi(k)=Γ-1(xi(k))[ui(k)-T(xi(k))]
Preferably, the UUV level of constellation face path tracking control method of the consideration communication packet loss, which is characterized in that
It is described that consider that the UUV level of constellation face controlling of path thereof of communication packet loss acquires calculating for each aircraft in UUV clusters each
The driving force of executing agency and the numerical value of driving moment, and controlled quentity controlled variable is input to the dress of the driving corresponding to aircraft executing agency
It sets.
It illustrates below and the present invention is described in more detail.
(1) it is the affine form of second order by the continuous mathematics model conversation of the Non-linear coupling of UUV：
The continuous mathematical model of Non-linear coupling of UUV is as follows：
It is wherein vectorialAnd vectorPosition and the Eulerian angles of UUV are respectively represented
State vector and UUV itself velocity state vectors.J (η) is Jacobian transition matrixes, and the coordinates of motion are transformed into
Fixed coordinates.Wherein transition matrix J (η) is expressed as follows：
Matrix M, C (v) and D (v) respectively represent inertial matrix, the centripetal matrix of Coriolis and damping matrix.G (η) is to represent power
With torque, caused by one same-action of gravity and buoyancy.τ is the input value of UUV power and torque.
Present invention assumes that the structure of UUV models is symmetrical in horizontal plane and vertical plane.Therefore inertial matrix M is symmetrical square
Battle array, the centripetal Matrix C (v) of Coriolis is antisymmetric matrix.To simplify the calculation, center of gravity and centre of buoyancy are designed as coincidence status, so g
(η) can ignore.
Wherein, ρ is water density, and L is captain, and Y., X., Z., M., N. is hydrodynamic force coefficient.
Wherein, m is UUV mass.
D (v)=- diag { Xu,Yv,Nr}(5)
Kinetics equation in formula (1) is rewritten as：
Wherein, uτ=[Tu,Tv,Tw,δs,δr] it is to indicate power and direction rudder angle, γ (ξ) is matrix, is expressed as follows：
The continuous mathematical model of UUV can be written as：
The nonlinear model of UUV is expressed as second order affine model：
Wherein, ξ=[ηΤ,vΤ]Τ,
R (ξ)=η.
(2) it is Second Order Integral by the continuous mathematics model conversation of the Non-linear coupling of UUV using state feedback linearization method
Form.In conjunction with the q in formula (9)ij(ξ), and using the property of Lie derivatives, matrix Γ (ξ) can be found out, it indicates as follows：
Specific q can be calculated according to formula (11)ij(ξ) obtains Γ (ξ) as nonsingular matrix, therefore the phase of system
It is to rank：
ρ1=2, ρ2=2, ρ3=2 (11)
Therefore, the sum of Relative order of the system is ρ1+ρ2+ρ3=6, it is identical as system dimension, it is known that the nonlinear system of UUV
System can carry out feedback linearization.The coordinate transforming is taken to be：
If the input of new system is ui=Τ (ξ)+Γ (ξ) uτ, wherein Τ (ξ) is as follows：
In conjunction with formula (14) (15), it can be deduced that the feedback linearization dynamic model of the standard second order integrated form of UUV：
Wherein,
(3) since the information data transmitted between UUV is the discrete data of fixed sample time, considering to communicate
There are the methods using direct discretization in the case of delay to convert continuous mathematical model to discrete models：
Wherein, i=1,2 ..., n, k represent discrete time index, and T represents sampling period, τij(k) it is when communicating delay
Between, and bounded, i.e. T- τij(k) ＞ τ0, τ0For normal number.I-th of UUV is respectively represented in time t
The position vector and velocity vector at=kT moment.It is defeated in control of moment time t=kT based on zero-order holder
Enter.
(4) communication is delayed unbounded situation as τij(k) meet T- τ according to probability Pij(k) ＞ τ0, the successful probability of P expression communications.
There are a positive integer nss, meet 1≤ns≤nq, only in period [k+ (ns-1),k+ns) interior UUViIt is successfully received UUVj。
(5) the coordination control protocol based on the Design of Mathematical Model under discrete time is respectively navigated after acquiring coordination in UUV clusters
The posture of row device restrains consistent with speed, and the horizontal plane path following control device proposed is：
xd(k) it is expected path, i.e., the ship trajectory of virtual pilotage people, vd(k) it is the velocity amplitude of virtual pilotage people.siFor
The initial position co-ordinates that UUV clusters are formed into columns, sdFor the initial position co-ordinates of virtual pilotage people.β1(k)=(2/ (T- τij(k))2)α1
(k)andβ2(k)=(2/ (T- τij(k))2)α2(k)。α1, α2It is controller gain, aij(k), bij(k) be respectively UUV position
With element in adjacency matrix corresponding to speed topological diagram,It is between virtual pilotage people and UUV clusters respectively
Element in adjacency matrix corresponding to position and speed topological diagram, σij(t) it is weighted value.
6. obtain position and speed to bring into the dynamical equation of each UUV, calculate each executing agency driving force and
The size of driving moment is：
uτi(k)=Γ-1(xi(k))[ui(k)-T(xi(k))]
7. the driving force for calculating each executing agency of each aircraft and the numerical value of driving moment in UUV clusters are acquired,
And controlled quentity controlled variable is input to the driving device corresponding to aircraft executing agency
Below with Matlab simulation softwares to prove effectiveness of the invention.
The nonlinear model of underwater unmanned vehicle is established in Matlab simulation softwares, and it is affine to be translated into second order
System.Primary condition and desired trajectory are set, test simulation is carried out.
The setting of Matlab simulated conditions is as follows：
If the first position x of aircraft in UUV clustersi(0), yi(0) Arbitrary distribution is in [0,0] section, ψi(0)=0, initial speed
It is 0 to spend vector, the initial velocity u=1m/s, v=0m/s of virtual pilotage people.The position coordinates of each aircraft of more UUV clusters
Respectively：δ1=[0,0], δ2=[10,0], δ3=[- 10,0], δ4=[20,0], δ1=[- 20,0], the control of position and speed
Device gain is respectively α1=0.3, α2=0.6.Selection controlling cycle is T=0.5s, τ0=0.2, it is 0.8 to communicate successful probability,
Confidence coefficient is 0.999.Artificial water panel path aircraft pursuit course is as follows：
Simulation result：
Institute's inventive method is write based on the setting of above-mentioned simulated conditions, and by Matlab simulation softwares, is passed through
Emulation can obtain the simulation experiment result such as Fig. 3 to Fig. 9, and wherein UUVv indicates that virtual pilotage people, UUV1-5 are more UUV clusters
In 5 aircraft.
Illustrate according to fig. 3 to the analogous diagram of Fig. 4, the UUV proposed by the invention that packet loss is communicated under the conditions of discrete message
Level of constellation face path tracking control method can ensure each UUV in x, and y-axis square motion follows expected path and consistent receipts
It holds back；Illustrated according to the analogous diagram of Fig. 5, the course angle of aircraft can converge on the course angle of virtual pilotage people in more UUV clusters.
Illustrated according to the analogous diagram of Fig. 6 to Fig. 7, the equal uniform convergence of speed state of each UUV；Illustrated according to the analogous diagram of Fig. 8, it is more
The course angular speed of aircraft can converge on the course angular speed of virtual pilotage people in UUV clusters.It is said according to the analogous diagram of Fig. 9
Bright, more UUV clusters can be navigated by water with the formation of keeping parallelism and by expected path.As can be seen that proposed by the invention discrete
The UUV level of constellation face path tracking control method of packet loss is communicated under the conditions of sample information can effectively make a UUV keep team
Shape simultaneously can track preset expected path well.
Claims (6)
1. a kind of UUV level of constellation face path tracking control method considering communication packet loss, it is characterized in that：
(1) the Three Degree Of Freedom nonlinear model of UUV is reduced to second order Affine Systems using feedback linearization；
(2) the continuous dynamical equations of UUV are converted into discrete form using the method for direct discretization；
(3) design considers the UUV level of constellation face path following control device of communication packet loss；
(4) position, posture and the speed of each UUV in UUV clusters are acquired using the controller；
(5) it transfers information in UUV specified in communication topological diagram, brings each UUV's into position, posture and speed is obtained
In dynamical equation, the driving force of each executing agency and the numerical value of driving moment are calculated；
(6) controlled quentity controlled variable is input to the driving device corresponding to aircraft executing agency, realize more UUV clusters keep rank and with
Track expected path.
2. the UUV level of constellation face path tracking control method according to claim 1 for considering communication packet loss, it is characterized in that
Step (1) specifically includes：The Three Degree Of Freedom nonlinear model established is：
It is wherein vectorialAnd vectorThe position of UUV and the shape of Eulerian angles are respectively represented
The velocity state vectors of state vector and UUV itself, J (η) are Jacobian transition matrixes, and I is unit matrix, M-1For the moment of inertia
The inverse matrix of battle array, W (v) are the sum of the centripetal matrix of Coriolis and damping matrix, and γ (ξ) is coefficient matrix, uτControlled quentity controlled variable；
The dynamical equation of UUV is expressed as the affine form of second order：
μ=r (ξ)；
Wherein, ξ=[ηΤ,vΤ]Τ, R (ξ)=η.
3. the UUV level of constellation face path tracking control method according to claim 1 for considering communication packet loss, it is characterized in that
Step (2) specifically includes：The discrete model is：
vi[k+1]=vi[k]+(T-τij(k))ui[k]
Coordinate transforming is：
X=[r1(ξ) r2(ξ) r3(ξ)]
V=[Lpr1(ξ) Lpr2(ξ) Lpr3(ξ)]
Input is ui=Τ (ξ)+Γ (ξ) uτ, wherein Τ (ξ) is as follows：
Wherein, LpFor the Lie derivatives of function p (ξ), i=1,2 ..., n, k represent discrete time index, and T represents sampling period, τij
(k) it is communication delay time and bounded, i.e. T- τij(k) ＞ τ0, τ0For normal number,It respectively represents
Position vectors and velocity vector of i-th of UUV at moment time t=kT,It is to be based on zero at moment time t=kT
The control of rank retainer inputs.
4. the UUV level of constellation face path tracking control method according to claim 1 for considering communication packet loss, feature
It is：The communication of the communication packet loss is delayed unbounded situation as τij(k) meet T- τ according to probability Pij(k) ＞ τ0, it is assumed that more UUV systems
System is in nqCommunication structure figure in a period and scheme centainly there are one spanning tree, P indicates to communicate successful probability, and there are one
Positive integer ns, meet 1≤ns≤nq, only in period [k+ (ns-1),k+ns) interior UUViIt is successfully received UUVj。
5. the UUV level of constellation face path tracking control method according to claim 1 for considering communication packet loss, it is characterized in that
The horizontal plane path following control device is：
xd(k) it is the ship trajectory of expected path, that is, virtual pilotage people, vd(k) it is the velocity amplitude of virtual pilotage people, siFor UUV collection
The initial position co-ordinates that group forms into columns, sdFor the initial position co-ordinates of virtual pilotage people, β1(k)=(2/ (T- τij(k))2)α1(k) and
β2(k)=(2/ (T- τij(k))2)α2(k), α1、α2It is controller gain, aij(k)、bij(k) be respectively UUV position and speed
Element in adjacency matrix corresponding to topological diagram,Be respectively position between virtual pilotage people and UUV clusters and
Element in adjacency matrix corresponding to speed topological diagram, σij(t) it is weighted value.
6. the UUV level of constellation face path tracking control method according to claim 1 for considering communication packet loss, it is characterized in that
Step (5) specifically includes：It obtains position and speed to bring into the dynamical equation of each UUV, calculates the drive of each executing agency
Power and the numerical value of driving moment are：
uτi(k)=Γ-1(xi(k))[ui(k)-T(xi(k))]。
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| CN109634308A (en) * | 2019-01-16 | 2019-04-16 | 中国海洋大学 | Based on intelligent navigation method under dynamic (dynamical) rate pattern auxiliary water |
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| CN110879611A (en) * | 2019-11-01 | 2020-03-13 | 中国电子科技集团公司电子科学研究院 | Unmanned aerial vehicle cluster three-dimensional curve path tracking method and device |
| CN110940985A (en) * | 2019-12-13 | 2020-03-31 | 哈尔滨工程大学 | Multi-UUV tracking and trapping system and method |
| CN111413982A (en) * | 2020-04-08 | 2020-07-14 | 江苏盛海智能科技有限公司 | Method and terminal for planning tracking routes of multiple vehicles |
| CN111930116A (en) * | 2020-07-24 | 2020-11-13 | 哈尔滨工程大学 | Large-scale UUV cluster formation method based on grid method |
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