CN108829132A - A kind of more UUV space maneuver control methods considering large dead time - Google Patents
A kind of more UUV space maneuver control methods considering large dead time Download PDFInfo
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- CN108829132A CN108829132A CN201810602174.3A CN201810602174A CN108829132A CN 108829132 A CN108829132 A CN 108829132A CN 201810602174 A CN201810602174 A CN 201810602174A CN 108829132 A CN108829132 A CN 108829132A
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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
- G05D1/10—Simultaneous control of position or course in three dimensions
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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
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0875—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted to water vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
Abstract
The present invention is to provide a kind of more UUV space maneuver control methods for considering large dead time.Using state feedback linearization by the space maneuver non-linear equation of UUV be Second Order Integral equation form；By UUV it is continuous it is motor-driven it is equations turned be discretization, be expressed as discrete message model equation；Design the mode of information exchange between more UUV；Design considers more UUV space maneuver controllers of communication large dead time, and the status information of each UUV in more UUV is acquired using the controller of design；Specified UUV is transferred information to according to communication topology figure, then received information is brought into motor-driven equation, calculates the driving force and driving moment of each UUV；Calculated driving force and driving moment are input to the executing agency of each UUV, realize that more UUV keep rank and track motor-driven path.It can effectively ensure that and still keep rank in communication there are UUV more in the case where large dead time and complete space maneuver task.
Description
Technical field
The present invention relates to a kind of space maneuver control methods of more underwater unmanned vehicles.
Background technique
UUV (underwater unmanned vehicle) be it is a kind of completion under water explore resource, environment prospecting etc. deep water task it is important
Carrier.The own location information of UUV can may determine that itself speed and posture can lead to by the data that navigation device measures
Doppler anemometer and gyroscope judgement are crossed, after obtaining to the information of external environment, underwater appoint is realized in conjunction with control algolithm
Business.But single UUV is limited the measurement range of external environment, and the limitation of single UUV task scope, cannot complete
The detecting large area of the task can not execute surrounding and seize for hostile target and wait complex tasks.The maneuverability of more UUV is exactly on realizing
State the important technology premise of task.Each aircraft in more UUV carries out the exchange of information by sonar, obtains the shape of other UUV
After state information, the motor-driven task of setting is realized using motor-driven controller.But in complicated marine environment, the letter of sonar propagation
The case where having delay and large dead time generation is ceased, the aircraft in more UUV cannot be guaranteed the condition of real-time communication, it is therefore desirable to really
More UUV in the case where communication condition is bad are protected still to keep rank and complete motor-driven task.
For the maneuver autopilot of more UUV, more control method and most is directed to horizontal plane only for the condition of continuous time
Motion path, if Pan great Wei is in article《The underwater multi-robot formation control that Artificial Potential Field and virtual architecture combine》It (delivers
In 2017, engineer's journal, the 2nd phase) and Zhao Ningning in article《More AUV formation road based on Serret-Frenet coordinate system
Diameter tracing control》Be published in 2015, underwater unmanned systems journal, the 1st phase) proposed in formation method can make navigate by water more
Device can track motor-driven path after forming into columns.But communication propagation can only utilize sonar, and other sensors packet between the UUV in deep-sea
Including the data such as accelerator all is discrete information data.
Summary of the invention
The purpose of the present invention is to provide one kind can effectively ensure that communication there are UUV more in the case where large dead time still
More UUV space maneuver control methods of the considerations of keeping rank and completing space maneuver task large dead time.
The object of the present invention is achieved like this：
It (1) is Second Order Integral equation form by the space maneuver non-linear equation of UUV using state feedback linearization；
(2) by UUV it is continuous it is motor-driven it is equations turned be discretization, be expressed as discrete message model equation；
(3) mode of information exchange between more UUV, i.e., the specified aircraft for issuing information and receiving information are designed；
(4) design considers more UUV space maneuver controllers of communication large dead time, and is acquired using the controller of design more
The status information of each UUV in UUV；
(5) information that step (4) obtains is transferred to by specified UUV according to communication topology figure, then by received information band
Enter in motor-driven equation, calculates the driving force and driving moment of each UUV；
(6) calculated driving force and driving moment are input to the executing agency of each UUV, realize that more UUV keep team
Shape simultaneously tracks motor-driven path.
The present invention can also include：
1. the space maneuver nonlinear equation is：
Wherein vectorAnd vectorPosition and the Euler of UUV are respectively represented
The velocity state vectors of the state vector and UUV at angle itself, J (η) are Jacobian transition matrixes, and I is unit matrix, M-1For
The inverse matrix of inertial matrix, W (v) are the sum of the centripetal matrix of Coriolis and damping matrix, and γ (ξ) is coefficient matrix, uτControl amount.
It is expressed as Second Order Integral equation form：
μ=r (ξ).
Wherein, ξ=[ηT,vT]T,
R (ξ)=η.
2. the discrete message model equation is：
vi[k+1]=vi[k]+(T-τij(k))ui[k]
Coordinate transforming is：
X=[r1(ξ) r2(ξ) r3(ξ) r4(ξ) r5(ξ)]
V=[Lpr1(ξ) Lpr2(ξ) Lpr3(ξ) Lpr4(ξ) Lpr5(ξ)]
Input is ui=T (ξ)+M (ξ) uτ, wherein T (ξ) is as follows：
3. communication large dead time situation is τij(k) meet T- τ according to probability Pij(k) > τ0, P indicates to communicate successful probability, deposit
In a positive integer ns, meet 1≤ns≤nq, only in period [k+ (ns-1),k+ns) interior UUViIt is successfully received UUVj。
4. the mode for designing information exchange between more UUV is：Position sends information in the UUV of intermediate UUV to the left and right sides,
It is out-degree between remaining UUV is the communication topological relation that an in-degree is one.
5. more UUV space maneuver controllers of the considerations of design communication large dead time are：
xdIt (k) is motor-driven path, the ship trajectory of i.e. virtual pilotage people, vdIt (k) is the velocity amplitude of virtual pilotage people, siFor
The initial position co-ordinates that more UUV form into columns, sdFor the initial position co-ordinates of virtual pilotage people, ζ1(k)=(2/ (T- τij(k))2)α1
(k) and ζ2(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 more UUV respectively
With element, σ in adjacency matrix corresponding to speed topological diagramijIt (t) is weighted value.
6. the driving force of each UUV is with driving moment：
uτi(k)=M-1(xi(k))[ui(k)-T(xi(k))]。
In order to solve the space maneuver control problem of more UUV under the conditions of discrete message, the invention proposes a kind of considerations
More UUV space maneuver control methods of large dead time, especially a kind of underwater unmanned vehicle that is suitable for is under the conditions of discrete message
There are the space maneuver control methods of more UUV of large dead time situation for communication.
In actual marine environment, when more UUV carry out information exchange under water generally all can by the interference of environment, because
The input of this control aircraft movement will receive the influence of delay.But the information collection of UUV is all based on the letter of discrete time
Breath, therefore some control algolithms for continuous time cannot be applied well.Therefore it is directed under discrete conditions, and examines
Considering the agreement that there are more UUV of communication delay and large dead time just has realistic meaning.
The method of the present invention can effectively solve more aircraft spaces machine of underwater unmanned vehicle under the conditions of discrete message
Dynamic control control problem.Considering underwater unmanned vehicle transmission information has that environmental disturbances and communication distance influence,
The more UUV space maneuver control methods for considering large dead time are devised, after the position, posture and the speed that acquire each UUV, will be obtained
Position and attitude and speed bring in the controller of each UUV the driving force and driving moment for calculating each executing agency into, then will
Calculated driving force and driving moment are input to the executing agency of each UUV, it is ensured that more UUV keep rank and tracing machine
Dynamic path.
Detailed description of the invention
Fig. 1 is more UUV space maneuver control method flow diagrams of consideration large dead time under the conditions of discrete message；
Fig. 2 is the communication topological relation figure of each aircraft of more UUV；
Fig. 3 is the change in location situation map in the east orientation direction of each member during motor-driven task more UUV；
Fig. 4 is the change in location situation map in the north orientation direction of each member during motor-driven task more UUV；
Fig. 5 is the change in location situation map of more UUV depth direction of each member during motor-driven task；
Fig. 6 is the angle change situation map of more UUV pitch angle of each member during motor-driven task；
Fig. 7 is the angle change situation map of more UUV angle of yaw of each member during motor-driven task；
Fig. 8 is the surging velocity variations situation map of more UUV each member during motor-driven task；
Fig. 9 is the swaying velocity variations situation map of more UUV each member during motor-driven task；
Figure 10 is the heaving velocity variations situation map of more UUV each member during motor-driven task；
Figure 11 is the angular velocity in pitch figure of changing of more UUV each member during motor-driven task；
Figure 12 is the angular velocity in yaw figure of changing of more UUV each member during motor-driven task；
Figure 13 is the three-dimensional track figure of more UUV.
Specific embodiment
It illustrates below and the present invention is described in more detail.
The characteristics of main object of the present invention is for underwater transmission discrete message, and information is handed in practical marine environment
It changes and there are the characteristics that the influence of the factors such as environmental disturbances and transmission range, considering more spaces UUV machine when communicating large dead time
Steps are as follows for flowing control method：The space maneuver nonlinear equation of UUV is reduced to second order first with state feedback linearization
Integral equation form；Secondly by UUV it is continuous it is motor-driven it is equations turned be discretization, be expressed as discrete message model equation.Then,
The mode of information exchange between more UUV is designed, i.e., the specified aircraft for issuing information and receiving information.Then design considers that communication is big
More UUV space maneuver control methods of time lag, and acquire using the controller of design the status information of each UUV in more UUV；Root
Specified UUV is transferred information to according to communication topology figure, then received information is brought into motor-driven equation, calculates each UUV's
Driving force and driving moment；Calculated driving force and driving moment are finally input to the executing agency of each UUV.
(1) Non-linear coupling of UUV is continuous motor-driven equations turned for Second Order Integral equation form：
Continuously motor-driven equation is as follows for the Non-linear coupling of UUV：
Wherein vectorAnd vectorThe position of UUV is respectively represented
With the velocity state vectors of the state vector and UUV itself of Eulerian angles.It is that Jacobian turns
Matrix is changed, the coordinates of motion are transformed into fixed coordinates.Wherein transition matrix J1(η1) and J2(η2) be 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, as caused by one same-action of gravity and buoyancy.τ is the input value of UUV power and torque.
Present invention assumes that its structure of UUV is symmetrical in horizontal plane and vertical plane.Therefore inertial matrix M is symmetrical matrix,
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
To 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,Zw,Mq,Nr} (6)
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 motor-driven equation of UUV can be written as：
The nonlinear equation of UUV is expressed as the affine equation of second order：
Wherein, ξ=[ηT,vT]T,
, r (ξ)=
η。
(2) using status feedback linearization method that the Non-linear coupling of UUV is continuous motor-driven equations turned for second order
Integrated form.In conjunction with the q in formula (10)ij(ξ), and using the property of Lie derivatives, matrix M (ξ) can be found out, is expressed as follows：
Specific q can be calculated according to formula (11)ij(ξ) show that M (ξ) is nonsingular matrix, therefore system is opposite
Rank is：
ρ1=2, ρ2=2, ρ3=2, ρ4=2, ρ5=2 (12)
Therefore, the sum of Relative order of the system is ρ1+ρ2+ρ3+ρ4+ρ5=10, it is identical as system dimension, it is known that UUV's is non-
Linear system can carry out state feedback linearization.The coordinate transforming is taken to be：
If the input of new system is ui=T (ξ)+Γ (ξ) uτ, wherein T (ξ) is as follows：
In conjunction with formula (14) (15), it can be deduced that the motor-driven side of state feedback linearization of the standard second order integrated form of UUV
Journey：
Wherein,
(3) due to the discrete data that the information data transmitted between UUV is the fixed sample time, considering to communicate
There are will be continuous motor-driven equations turned for discrete motor-driven equation using the method for direct discretization in the case of delay：
Wherein, i=1,2 ..., n, k represent discrete time index, and T represents sampling period, τij(k) when being delayed for communication
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 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。
(5) mode of information exchange is the UUV transmission letter of position to the left and right sides in intermediate UUV between the more UUV designed
It is the communication topological relation that an in-degree is one that breath, which is out-degree between remaining UUV,.
(6) motor-driven controller designed based on the motor-driven equation under discrete time is：
xdIt (k) is motor-driven path, i.e., the ship trajectory of virtual pilotage people, vdIt (k) is the velocity amplitude of virtual pilotage people.siFor
The initial position co-ordinates that more UUV form into columns, sdFor the initial position co-ordinates of virtual pilotage people.ζ1(k)=(2/ (T- τij(k))2)α1
(k)andζ2(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 the position between virtual pilotage people and more UUV respectively
It sets and element, σ in adjacency matrix corresponding to speed topological diagramijIt (t) is weighted value.
(7) it obtains status information to bring into the motor-driven equation of each UUV, calculates the driving force and drive of each executing agency
Kinetic moment is：
uτi(k)=M-1(xi(k))[ui(k)-T(xi(k))]
(8) driving force and driving moment for calculating each executing agency of each aircraft in more UUV are acquired, and will be calculated
Driving force and driving moment out is input to the executing agency of each UUV
Below with Matlab simulation software to prove effectiveness of the invention.It is established in Matlab simulation software underwater
The nonlinear equation of unmanned vehicles, and it is translated into Second Order Integral equation form.Set primary condition, and expectation rail
Mark carries out test simulation.
The setting of Matlab simulated conditions is as follows：
If the first position x of aircraft in more UUVi(0), yi(0) Arbitrary distribution is in [0,0] section, ψi(0)=0, initial velocity
Vector is 0, the initial velocity u=0.6m/s, v=0m/s of virtual pilotage people.The position coordinates of each aircraft of more UUV are distinguished
For：δ1=[0,0,0], δ2=[20,0,0], δ3=[- 20,0,0], δ4=[40,0,0], δ1=[- 40,0,0], position and speed
Controller gain be respectively α1=0.02, α2=0.8.Choosing the control period is T=0.5s, τ0=0.2, communication is successfully general
Rate is 0.8, confidence coefficient 0.999.It is as follows to emulate the motor-driven task curve of horizontal plane：
Simulation result：
Institute's inventive method is write based on the setting of above-mentioned simulated conditions, and by Matlab simulation software, is passed through
The available the simulation experiment result such as Fig. 3 to Figure 13 is emulated, wherein UUVv is pilotage people, other UUV are follower.
Illustrated according to the analogous diagram of Fig. 3 to Fig. 6, more spaces UUV machine proposed by the invention under the conditions of discrete message
Flowing control method can guarantee each UUV in x, and y, z-axis square motion follows motor-driven path and equal uniform convergence；According to Fig. 7
To the analogous diagram explanation of Figure 12, the equal uniform convergence of the speed state of each UUV；Illustrated according to the analogous diagram of Figure 13, more UUV can be with
The formation of keeping parallelism is simultaneously navigated by water by motor-driven path.As can be seen that proposed by the invention lead under discrete sampling information condition
More UUV space maneuver control methods of news large dead time can effectively make UUV keep rank and can track well to set in advance
Fixed motor-driven path.
Claims (7)
1. a kind of more UUV space maneuver control methods for considering large dead time, it is characterized in that：
It (1) is Second Order Integral equation form by the space maneuver non-linear equation of UUV using state feedback linearization；
(2) by UUV it is continuous it is motor-driven it is equations turned be discretization, be expressed as discrete message model equation；
(3) mode of information exchange between more UUV, i.e., the specified aircraft for issuing information and receiving information are designed；
(4) design considers more UUV space maneuver controllers of communication large dead time, and is acquired in more UUV using the controller of design
The status information of each UUV；
(5) information that step (4) obtains is transferred to by specified UUV according to communication topology figure, then brings received information into machine
In dynamic equation, the driving force and driving moment of each UUV are calculated；
(6) calculated driving force and driving moment are input to the executing agency of each UUV, realize that more UUV keep rank simultaneously
Track motor-driven path.
2. the more UUV space maneuver control methods according to claim 1 for considering large dead time, it is characterized in that the space machine
Dynamic nonlinear equation is：
Wherein, LpFor the Lie derivatives of function p (ξ), i=1,2 ..., n, k represent discrete time index, and T represents sampling period, τij
It (k) is communication delay time and bounded, i.e. T- τij(k) > τ0, τ0For normal number,It respectively represents
Position vector and velocity vector of i-th of UUV at moment time t=kT,It is to be based on zeroth order at moment time t=kT
The control of retainer inputs；
It is expressed as Second Order Integral equation form：
μ=r (ξ).
3. the more UUV space maneuver control methods according to claim 1 for considering large dead time, it is characterized in that the discrete letter
Ceasing model equation is：
vi[k+1]=vi[k]+(T-τij(k))ui[k]
Coordinate transforming is：
X=[r1(ξ) r2(ξ) r3(ξ) r4(ξ) r5(ξ)]
V=[Lpr1(ξ) Lpr2(ξ) Lpr3(ξ) Lpr4(ξ) Lpr5(ξ)]
Input is ui=T (ξ)+M (ξ) uτ, wherein T (ξ) is as follows：
4. the more UUV space maneuver control methods according to claim 1 for considering large dead time, it is characterized in that：When communicating big
Stagnant situation is 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
Figure centainly has a spanning tree, and P indicates to communicate successful probability, and there are a positive integer nss, meet 1≤ns≤nq, only in the period
[k+(ns-1),k+ns) interior UUVi is successfully received UUVj。
5. the more UUV space maneuver control methods according to claim 1 for considering large dead time, it is characterized in that designing more UUV
Between the mode of information exchange be：Position sends information in the UUV of intermediate UUV to the left and right sides, be out-degree between remaining UUV is one
The communication topological relation that in-degree is one.
6. the more UUV space maneuver control methods according to claim 1 for considering large dead time, it is characterized in that the considerations of design
Communication large dead time more UUV space maneuver controllers be：
xdIt (k) is motor-driven path, the ship trajectory of i.e. virtual pilotage people, vdIt (k) is the velocity amplitude of virtual pilotage people, siFor more UUV
The initial position co-ordinates of formation, sdFor the initial position co-ordinates of virtual pilotage people, ζ1(k)=(2/ (T- τij(k))2)α1(k) and ζ2
(k)=(2/ (T- τij(k))2)α2(k), α1、α2It is controller gain, aij(k)、bijIt (k) is that the position and speed of UUV is opened up respectively
Element in adjacency matrix corresponding to figure is flutterred,It is the position and speed between virtual pilotage people and more UUV respectively
Element in adjacency matrix corresponding to topological diagram, σijIt (t) is weighted value.
7. the more UUV space maneuver control methods according to claim 1 for considering large dead time, it is characterized in that each UUV
Driving force is with driving moment：
uτi(k)=M-1(xi(k))[ui(k)-T(xi(k))]。
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