CN108664025B - A kind of trace to the source at random tracking and controlling method and its system of offshore spilled oil - Google Patents
A kind of trace to the source at random tracking and controlling method and its system of offshore spilled oil Download PDFInfo
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- CN108664025B CN108664025B CN201810449805.2A CN201810449805A CN108664025B CN 108664025 B CN108664025 B CN 108664025B CN 201810449805 A CN201810449805 A CN 201810449805A CN 108664025 B CN108664025 B CN 108664025B
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- unmanned boat
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- oil spilling
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Abstract
The present invention provides trace to the source at random tracking and controlling method and its systems of a kind of offshore spilled oil, it is related to unmanned boat control field, mainly include the following steps: 1) unmanned boat carry sensors, obtains sensing data from slick, processing obtains oil spilling model parameter and motion model parameters；2) unmanned boat kinematics control rate is obtained according to two model parameter calculations；3) unmanned boat dynamics Controlling rate is obtained, and then obtain the search data of unmanned boat to the processing of unmanned boat kinematics control rate based on feedback linearization method, so that unmanned boat be driven to search offshore spilled oil source；The present invention has real-time, adaptivity and robustness, realizes rapid random retrospect of the unmanned boat to wide area offshore spilled oil diffusion source.
Description
Technical field
The present invention relates to unmanned boat control fields, and in particular to a kind of offshore spilled oil trace to the source at random tracking and controlling method and
Its system.
Background technique
Unmanned boat technology is that one kind combines computer, cybernetics, structure, information and sensing technology and artificial intelligence
Can, bionical it the new and high technology that is multidisciplinary and being formed such as acquire.Currently, very active for the research of unmanned boat and increasingly used
To in extensive technical field.Because its application is related to marine spilled oil monitoring, unmanned boat technology increasingly by academia and
The concern of industry.
There are three types of methods: the method based on map structuring, method and base based on oil spilling behavior for existing marine oil overflow monitoring
In the method for control.The method that tradition mostly uses gradient to rise based on the tracking and controlling method of tracing to the source of control.However, only considering ladder
The control method of tracing to the source that degree rises often is difficult to obtain accurate model parameter.At the same time, gradient rise method is relied on merely, is traced back
Search range is limited in source procedure, and tracking velocity and precision are also difficult to ensure.It tracks and exists especially for large scale sea area oil spilling
Serious model error.Therefore, a kind of more accurate rapidly wide area oil spilling source retrospect control method is needed.
Summary of the invention
To solve above-mentioned problem of the prior art, using perturbation theory and average principle, it is based on random searching strategy, this hair
A kind of bright tracking and controlling method of tracing to the source at random for proposing offshore spilled oil realizes unmanned boat to the fast of wide area offshore spilled oil diffusion source
Fast random retrospect, has the characteristics that real-time, adaptivity and robustness.
A kind of tracking and controlling method of tracing to the source at random of offshore spilled oil, method and step include:
1) sensor, diffusion-are provided on unmanned boat to flow module, unmanned boat movement processor, state observer, random
Search strategy module and preceding driving power processor detect oil spilling sea sensing data by sensor；Based on sensing data, lead to
It crosses diffusion-convection current resume module and obtains oil spilling model parameter, motion model parameters are obtained by unmanned boat movement processor；
2) oil spilling model parameter and motion model parameters are based on, the unmanned boat movement processor obtains unmanned boat mass center fortune
It is dynamic to learn model, it is combined with oil spilling plumage cutting edge of a knife or a sword processing model of the diffusion-to flow module, obtains state equation and the sight of state observer
Survey equation；By state observer and random searching strategy module Combined Treatment, unmanned boat kinematics control rate is acquired；
3) driving power processor is based on feedback linearization method to the processing of unmanned boat kinematics control rate before, obtains nobody
Ship power control rate, and then the search data of unmanned boat are obtained, the search data include unmanned boat motive force and movement side
To according to search data-driven unmanned boat search offshore spilled oil source.
In step 1), the sensor includes 360 ° of search rocking bars swung at random, and the sensing data includes oil film
Concentration and flow field velocity；The oil spilling model parameter includes the gradient and divergence of oil spilling concentration.
It is furthermore preferred that a. diffusion-handles model treatment by following oil spilling plumage cutting edge of a knife or a sword to flow module:
Wherein,For oil spilling concentration,WithFor the gradient and divergence of oil spilling concentration；K and v respectively indicate diffusion coefficient
It is parameter vector to be measured with flow field velocity vector；
B. unmanned boat movement processor handles model treatment by following unmanned boat center of mass motion:
Wherein, xr=[xr1, xr2]TIndicate that unmanned boat centroid position, φ are its yaw angle, η=[η1, η2]TIt is defeated for unmanned boat
The kinematics control rate entered.
Preferably, the state equation and observational equation that unmanned boat state observer is handled are successively are as follows:
Wherein, G indicates the projection matrix of the normal direction along oil spilling plumage cutting edge of a knife or a sword.
Further, combined by following processing method with state observer using random searching strategy module and obtain unmanned boat
Kinematics control rate,
Wherein, u=η, w are the random search item for meeting equal temperance.
Preferably, state observer obtains random search item w by following processing method,
Further, in step 3), preceding driving power processor is controlled unmanned boat kinematics by following processing method
Rate makees feedback linearization processing, obtains unmanned boat dynamics Controlling rate,
Wherein, τ ' expression unmanned boat motive force, z indicate unmanned boat on remove mass center External Reference point position,Indicate ginseng
The examination point equation of motion, parameter E and F are related with reference point distance l and yaw angle φ with unmanned boat mass center.
Preferably, preceding driving power processor is handled parameter E and F by following correlativity:
Also, obtained movement unmanned boat motive force τ ', unmanned boat mass center and reference point distance l and yaw angle will be calculated
φ drives unmanned boat image processor oil spilling source after being applied to unmanned boat control mechanism.
Meanwhile the present invention also provides it is a kind of using above-mentioned offshore spilled oil trace to the source at random tracking and controlling method offshore spilled oil with
Machine is traced to the source tracking control system.
Comprehensive technological scheme and resultant effect of the present invention include:
The present invention traces to the source tracing control for the oil spilling based on unmanned boat in large scale sea area, has real-time, adaptive
Property and robustness carry out the modeling of motion control rate and feedback linearization processing using perturbation theory and average principle, can realize
Unmanned boat significantly improves trace to the source efficiency and control precision to the random search and quickly retrospect in wide area oil spilling source.
Detailed description of the invention
Fig. 1 is the tracking and controlling method flow diagram of tracing to the source at random of offshore spilled oil of the present invention.
Fig. 2 is unmanned boat in the tracking and controlling method embodiment of tracing to the source at random of offshore spilled oil of the present invention to wide area offshore spilled oil
The tracing control plane coordinate system schematic diagram of source random search.
Specific embodiment
A kind of trace to the source at random tracking control system and its tracking and controlling method of offshore spilled oil, as shown in Figure 1, method and step
Include:
1) sensor, diffusion-are provided on unmanned boat to flow module, unmanned boat movement processor, state observer, random
Search strategy module and preceding driving power processor detect oil spilling sea sensing data by sensor；Based on sensing data, lead to
It crosses diffusion-convection current resume module and obtains oil spilling model parameter, motion model parameters are obtained by unmanned boat movement processor；
2) oil spilling model parameter and motion model parameters are based on, the unmanned boat movement processor obtains unmanned boat mass center fortune
It is dynamic to learn model, it is combined with oil spilling plumage cutting edge of a knife or a sword processing model of the diffusion-to flow module, obtains state equation and the sight of state observer
Survey equation；By state observer and random searching strategy module Combined Treatment, unmanned boat kinematics control rate is acquired；
3) driving power processor is based on feedback linearization method to the processing of unmanned boat kinematics control rate before, obtains nobody
Ship power control rate, and then the search data of unmanned boat are obtained, the search data include unmanned boat motive force and movement side
To according to search data-driven unmanned boat search offshore spilled oil source.
In step 1), the sensing data includes oil film concentration and flow field velocity；The oil spilling model parameter includes overflowing
The gradient and divergence of oil concentration.
Fig. 2 shows realization unmanned boats of the invention, and the fortune of oil film concentration and current speed sensor is carried for one
Dynamic speed and the controllable unmanned boat of the direction of motion, sensor are equipped with 360 ° of search rocking bars swung at random.
A. diffusion-handles model treatment by following oil spilling plumage cutting edge of a knife or a sword to flow module:
Wherein,For oil spilling concentration,WithFor the gradient and divergence of oil spilling concentration；K and v respectively indicate diffusion coefficient
It is parameter vector to be measured with flow field velocity vector；
B. unmanned boat movement processor handles model treatment by following unmanned boat center of mass motion:
Wherein, xr=[xr1, xr2]TIndicate that unmanned boat centroid position, φ are its yaw angle, η=[η1, η2]TIt is defeated for unmanned boat
The kinematics control rate entered.
The kinetic model of unmanned boat is expressed asWherein, parameter M, C, R and D are nobody
Ship mechanical structure correlation preset parameter.The state equation and observational equation of unmanned boat state observer processing are successively are as follows:
Wherein, G indicates the projection matrix of the normal direction along oil spilling plumage cutting edge of a knife or a sword.
Combined by following processing method with state observer using random searching strategy module and obtains unmanned boat kinematics
Control rate,
Wherein, u=η, w are the random search item for meeting equal temperance.
State observer obtains random search item w by following processing method,
In step 3), preceding driving power processor is fed back unmanned boat kinematics control rate by following processing method
Linearization process obtains unmanned boat dynamics Controlling rate,
Wherein, τ ' expression unmanned boat motive force, z indicate unmanned boat on remove mass center External Reference point position,It indicates
The reference point equation of motion, parameter E and F are related with reference point distance l and yaw angle φ with unmanned boat mass center.
Preceding driving power processor is handled parameter E and F by following correlativity:
Also, obtained movement unmanned boat motive force τ ', unmanned boat mass center and reference point distance l and yaw angle will be calculated
φ drives unmanned boat image processor oil spilling source after being applied to unmanned boat control mechanism.
Although the present invention has been described in detail, it will be understood by those skilled in the art that in spirit and scope of the invention
Modification will be apparent.However, it should be understood that various aspects, different specific embodiment that the present invention records
Each section and the various features enumerated can be combined or all or part of exchange.In above-mentioned each specific embodiment, that
A little embodiments with reference to another embodiment can be combined suitably with other embodiment, this is will be by this field skill
Art personnel are to understand.In addition, it will be understood to those of skill in the art that the description of front is only exemplary mode, not purport
In the limitation present invention.
Claims (4)
1. a kind of offshore spilled oil is traced to the source tracking and controlling method at random, which is characterized in that method and step includes:
1) sensor, diffusion-are provided on unmanned boat to flow module, unmanned boat movement processor, state observer, random search
Policy module and preceding driving power processor detect oil spilling sea sensing data by sensor；Based on sensing data, pass through expansion
Scattered-convection current resume module obtains oil spilling model parameter, obtains motion model parameters by unmanned boat movement processor；
2) oil spilling model parameter and motion model parameters are based on, the unmanned boat movement processor obtains unmanned boat center of mass motion
Model combines with oil spilling plumage cutting edge of a knife or a sword processing model of the diffusion-to flow module, obtains state equation and the observation side of state observer
Journey；By state observer and random searching strategy module Combined Treatment, unmanned boat kinematics control rate is acquired；
3) driving power processor is based on feedback linearization method to the processing of unmanned boat kinematics control rate before, and it is dynamic to obtain unmanned boat
Mechanics control rate, and then the search data of unmanned boat are obtained, the search data include unmanned boat motive force and the direction of motion, root
Offshore spilled oil source is searched according to data-driven unmanned boat is searched；
In step 1), the sensor includes 360 ° of search rocking bars swung at random, and the sensing data includes oil film concentration
And flow field velocity；The oil spilling model parameter includes the gradient and divergence of oil spilling concentration；
A. diffusion-handles model treatment by following oil spilling plumage cutting edge of a knife or a sword to flow module:
It wherein, is oil spilling concentration, and gradient and divergence for oil spilling concentration；K and v respectively indicates diffusion coefficient and flow field velocity arrow
Amount is parameter vector to be measured；
B. unmanned boat movement processor handles model treatment by following unmanned boat center of mass motion:
Wherein, xr=[xr1, xr2]TIndicate that unmanned boat centroid position, φ are its yaw angle, η=[η1, η2]TFor unmanned boat input
Kinematics control rate；
The state equation and observational equation of unmanned boat state observer processing are successively are as follows:
Wherein, G indicates the projection matrix of the normal direction along oil spilling plumage cutting edge of a knife or a sword；
Combined by following processing method with state observer using random searching strategy module and obtains the control of unmanned boat kinematics
Rate,
Wherein, u=η, w are the random search item for meeting equal temperance.
2. the method according to claim 1, wherein state observer is searched at random by the acquisition of following processing method
Rope item w,
3. the method according to claim 1, wherein preceding driving power processor passes through as follows in step 3)
Unmanned boat kinematics control rate is made feedback linearization processing by processing method, obtains unmanned boat dynamics Controlling rate,
Wherein, τ ' expression unmanned boat motive force, Z indicate unmanned boat on remove mass center External Reference point position,Indicate reference point
The equation of motion, parameter E and F are related with reference point distance l and yaw angle φ with unmanned boat mass center；
Preceding driving power processor is handled parameter E and F by following correlativity:
Also, obtained movement unmanned boat motive force τ ', unmanned boat mass center and reference point distance l and yaw angle φ will be calculated to apply
Unmanned boat image processor oil spilling source is driven after being added to unmanned boat control mechanism.
The offshore spilled oil of tracking and controlling method 4. a kind of use offshore spilled oil as described in any one of claim 1-3 is traced to the source at random
Random tracking control system of tracing to the source.
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| CN106842202A (en) * | 2017-02-28 | 2017-06-13 | 黄晓霞 | A kind of method and device that oil spill accident source point is determined based on remote sensing image |
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