CN108983815A - A kind of anti-interference autonomous docking control method based on the control of terminal iterative learning - Google Patents
A kind of anti-interference autonomous docking control method based on the control of terminal iterative learning Download PDFInfo
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Abstract
The present invention relates to a kind of anti-interference docking control methods of iterative learning control, include the following steps: step 1: completing the inner ring state Design of Feedback Controller of controlled device, guarantee to realize posture and Position Tracking Control.Step 2: the embodiment for determining iteration docking operation.Step 3: iterative learning controller algorithm is realized.The present invention, come apish docking operation, to realize the trajectory predictions and tracing control of docking target, independently docks the success rate controlled under the interference such as various aerodynamic interferences to improve using the method that iterative learning controls.The advantages of this method is: only needing the location information of terminal juncture, is easy to measure and obtain；Docking control all aims at fixed point every time, highly-safe；Iterative learning controller is located at control system outer layer as add-on module, changes less, is easy to implement to original control system.
Description
Technical field
The present invention relates to a kind of anti-interference docking control method of iterative learning control, which belongs to iterative learning control
Field.
Background technique
Accurate docking control plays a significant role in many industry fields, for example, air refuelling and ship docking etc..It is right
Connect the success rate often influence by various interference of control.By taking air refuelling as an example, it will receive in docking operation random
Disturb (air turbulence) and repulsion interference (refueled aircraft bow wave effect).Wherein, repulsion interference refers to when controlled device (refueled aircraft
Taper Pipe) close to when docking target (tapered sleeve), (flow field, magnetic field etc.) effect is repelled in the promotion that docking target will receive controlled device,
It is escaped outward with fast speed, so as to cause docking failure.Repulsion interferes so that docking control problem from original fixation target
Shooting problem is marked, drone shooting problem is changed into.Under normal conditions, the inertia of controlled device cause greatly movement velocity compared with
Slowly, the light weight of target is docked to which movement velocity is fast, this results in the mobility of controlled device to be typically not enough to catch up with and escape
The docking target of ease substantially reduces docking success rate.The phenomenon has presence in the docking control task of various industries,
When someone participates in docking control, people can be prejudged the motion profile of docking target by the experience of itself, to realize
Smoothly docking.The present invention using the method that iterative learning controls come apish docking operation, to realize the track of docking target
Prediction and tracing control, to improve the success rate of the autonomous docking control under various aerodynamic interferences.This method will be to future
Autonomous docking control has a very important role and meaning.
Summary of the invention
The present invention gives the anti-interference autonomous docking control methods controlled based on iterative learning.It improves autonomous docking
Control docks success rate under repulsion interference.
The docking control process faced in the present invention is as follows:
It is as shown in Figure 1 to dock a typical docking control problem for example in the air, wherein controlled device is by oil
Tapered sleeve on machine, docking target are the tapered sleeves of fuel charger hose end, it is therefore an objective to be controlled by iterative learning and guarantee that Taper Pipe is (controlled
Object) tapered sleeve center (docking target) is smoothly inserted under noisy condition.
One docking control problem can be expressed as follows: ppr=[xpr ypr zpr]TIndicate the position vector of controlled device,
pdr=[xdr ydr zdr]TThe position vector of target is docked, the two vectors all unified definitions are under a certain coordinate system.Controlled pair
As that can be defined as with the location error for docking target t at any time
Wherein, Δ xdr/pr(t),Δydr/pr(t),Δzdr/pr(t) vector Δ p is respectively indicateddr/pr(t) three components.Reprimand
Power interference is usually with Δ pdr/prIt (t) is the function of independent variable, and nearlyr (the Δ p of distancedr/pr(t) smaller) repulsive interaction is stronger,
Finally result in the failure of docking.Radial error Δ R is the important indicator of judgement docking success or not, is normally defined y-axis and z-axis
The norm of the location error component in direction
When primary successfully docking requires controlled device to reach the terminal juncture T of docking objective plane, the position of the two
Radial error Δ R is small as far as possible, and mathematical description is as follows: terminal juncture T is expressed as controlled device and passes through pair for the first time in the direction x
Meet objective plane (Δ xdr/pr=0) at the time of
T=mint{Δxdr/pr(t)=0 } (3)
The radial error Δ R (T) of terminal juncture is in defined allowable error threshold value RCIt is interior, so that it may which that thinking specifically to dock is
Successfully, mathematical definition is as follows
Δ R (T) < RC (4)
Above-mentioned formula (4) referred to as docking success rate judgment criterion, and RCFor the constant formulated according to actual demand, also claimed
For error threshold.
Not external interference ideally, dock target position will eventually stablize an equalization point (note
For).In view of the presence of random perturbation and repulsion disturbance, docking target can deviate desired balance under practical situation
Point position, i.e. physical location p of the tapered sleeve in terminal juncture Tdr(T) meet following relationship
Wherein,Indicate the position deviation generated by random perturbation, wbowThe position for indicating that repulsion effect generates is inclined
Difference.Repulsion position deviation wbowWith the two alternate position spike Δ pdr/prCorrelation, the i.e. position of docking target can be close with controlled device
And deviation is generated, iterative learning control strategy of the invention is primarily to eliminate this deviation.Random site deviation wdrIt is certainly
Right boundary is generally existing, is mainly generated by air, fluid or the vibration on ground.Due to wdrRandomness, pass through the method for control
It can not overcome, therefore should be avoided in w when docking controldrImplement docking control in the case where very big.With aerial docking oiling
For, when state of weather is very poor, and tapered sleeve is significantly swung at random in the sky, docking mission it is almost impossible completion and
It is breakneck, therefore bad weather avoids being docked in the air next time.Therefore, in actually docking control task, it will usually
The random perturbation amplitude of docking target is limited, such as, it is believed that column constraint instantly thinks that docking control can be carried out when meeting
System
|wdr|≤0.5RC (6)
In iterative learning procedure, need to indicate the position under different the number of iterations and control information.Here with upper right mark
(k) indicate certain variable in the numerical value at kth time docking moment.Such as:Indicate that position when kth time docking operation is missed
Difference, T(k)Indicate the terminal time of kth time docking operation, Δ R(k)(T(k)) radial error when indicating kth time docking.Assuming that total
N times docking has been carried out altogether to attempt, and is docked successfully (i.e. terminal radial error meets judgment criterion formula (4)) wherein having m times, is then docked
Success rate can be expressed as
The method that the present invention is controlled by iterative learning, so that radial abutment error delta R(k)(T(k)) with the number of iterations k
Increase constantly reduce, finally realize in the case that repulsion interfere exist high success rate docking control.It is illustrated in figure 2 whole
The control block diagram of a system, A indicates controlled device in figure, and B indicates that inner loop control device, C indicate iterative learning control.Iteration
Practising controller is the track p with controlled deviceprWith the track p for docking targetdrTo input, by the iterative learning of historical data
Generate suitable tracing positional signalThe effect of inner loop control device is the state vector x for feeding back controlled deviceprRealize itself
Stability contorting, while tracking given reference position signalIt realizes stable fixed point tracking, exports the control for controlled device
Vector u processedpr。
Technical solution in order to further illustrate the present invention, it is proposed by the present invention it is a kind of based on terminal iterative learning control
Anti-interference autonomous docking control method, includes the following steps:
Step 1: the design of inner loop control device guarantees position tracking
The method of posture and position control is highly developed at present, such as the design methods such as root locus, POLE PLACEMENT USING and LQR
It may be implemented.After completing the design of inner loop control device, do not interfere with ideally, any given coordinate system FTUnder target
The three-dimensional vector of positionControlled device can reach specified target position in terminal juncture TI.e.
Due to the presence of various interference, the presence of certain tracking error is actually had, therefore the position of terminal juncture can indicate
It is as follows
Wherein,Tracking error vector for the controlled device generated by disturbance.In order to meet basic docking
Demand requires controlled tracking error too big, it is proposed that satisfaction at least meets under normal conditions
|wpr|≤0.5RC (9)
Tracking error vector wprSize depend on aircraft itself mobility and external interference power.In severe day
Positional fluctuation is larger or controlled device mobility itself is poor in the case of gas causes tracking accuracy very poor, to realize accurate
Docking control be unpractical.Therefore, a constraint of the formula (9) as controlled device performance itself and external interference, is to protect
The primary condition that card docking control can be carried out successfully.
Step 2: the embodiment for determining iteration docking operation
It needs to carry out solution formulation to entire iterative learning procedure using iterative learning control, determines when to start to dock,
When terminate to dock and return where carries out next iteration.
Typical an iteration learning process can be described as follows.
(1) controlled device first move to docking target rear certain distance (this distance under repulsion interference it is weak enough, generally
Take the 2 times or more of controlled device length) a certain initial position, and observe docking target and itself positional fluctuation situation.Such as
The external world situations such as fruit weather are good, and the random site deviation of controlled device meets constraint formula (6) and formula (9), then it is assumed that has success
The condition of docking.
(2) stay for some time (be greater than 10s), takes mean value using the track data of docking this period target, acquire by
Control the equilbrium position of object
(3) controlled device is under the effect of interior ring controller slowly close to target positionUntil the moment T that reaches home(k),
Initial position is returned immediately after.
(4) the controlled device position of the terminal juncture of this docking is recordedWith dock target positionTarget position next time is calculated by Iterative AlgorithmThen it is next to repeat step (1) progress
Secondary docking is attempted.
Step 3: iterative learning controller algorithm is realized
Iterative Algorithm and controlled device positionWith docking target positionTo input, so
After export desired target docking locationExpression is as follows
WhereinFor estimating that position deviation caused by docking target is interfered because of repulsion, more new law are as follows
AndFor offsetting the tracing deviation of controlled device mobility deficiency generation, more new law is as follows
Two constant vectors involved in two formulas are defined as follows
Wherein,I=1,2,3.ParameterkliThe utilization for indicating historical data closer to 1
Rate is higher, but iteration speed is slower.
Advantages of the present invention and beneficial effect are: only needing the location information of terminal juncture, be easy to measure and obtain；Often
Secondary docking control all aims at fixed point, highly-safe；Iterative learning controller is located at control system outer layer as add-on module,
It is few to the change of original control system, it is easy to implement.
Detailed description of the invention
Fig. 1 is the docking system schematic diagram for docking in the air.
Fig. 2 is docking control system architecture figure.
Fig. 3 is iterative learning procedure display diagram.
Fig. 4 is the implementation steps of the invention figure.
Symbol description is as follows in figure:
Fig. 1: label 1 indicates controlled device Taper Pipe, and 2 indicate refueled aircraft, and 3 indicate docking target tapered sleeve, and 4 indicate fuel charger,
pprIndicate the track of controlled device, pdrIndicate the track of docking target, FTIndicate fuel charger coordinate system otxtytzt, axis xt,
yt,ztDirection be forward, to the right and straight down respectively.
Fig. 2: A indicates controlled device, and B indicates that inner loop control device, C indicate iterative learning control, pprIndicate controlled device
Track, pdrIndicate the track of docking target,For the position tracking signal for inputing to inner loop control system, xprIndicate controlled pair
The state vector of elephant, uprIndicate the amount of directly controlling of control controlled device.
Fig. 3: dotted line indicates tapered sleeve position, and solid line indicates Taper Pipe position.Picture is distributed from the top down indicates Taper Pipe and tapered sleeve
The trajectory components in the direction x, y, z, from left to right distribution indicate the 1st path data attempted to the 4th docking.Vertical direction is sat
Mark unit is m, and lateral coordinates unit is s.
Specific embodiment
Referring to Figure 1 shown in -4, the present invention provides a kind of anti-interference autonomous docking based on the control of terminal iterative learning
Control.Here implementation displaying is carried out by taking air refuelling analogue system as an example.This method comprising the following steps:
Step 1: the inner ring state Design of Feedback Controller of controlled device.
The method of posture and position control is highly developed at present, such as the design methods such as root locus, POLE PLACEMENT USING and LQR
It may be implemented, we are designed with the inner loop control device that the method for LQR carries out aircraft itself here.Complete the design of inner loop control device
Afterwards, the three-dimensional vector of the given target position of the tracking that aircraft can be stable
Step 2: the embodiment for determining iteration docking operation.
Docking operation provides as follows:
(1) with 6 meters of tapered sleeve dead astern for initial position, refueled aircraft Taper Pipe is in tapered sleeve rear observation tapered sleeve and self-position wave
Dynamic, random perturbation is set as | wdr|≤0.2RC, | wpr|≤0.2RCMeet the docking condition of formula (6) and formula (9).
(2) 20s is waited, the track data of tapered sleeve is recorded and obtains the equilbrium position of tapered sleeve
(3) Taper Pipe is with 0.5m/s at the uniform velocity in the x-direction close to the tapered sleeve target position of predictionUntil terminal juncture, so
After take RC=0.15m returns to initial position to determine whether docking and successfully existing side by side.
(4) position of terminal juncture Taper Pipe and tapered sleeve is recorded, and calculates homing position next time
By taking first time docks and attempts (k=1) as an example, (2) pacing in simulations measures the equilbrium position of tapered sleeve and isDue to there is no historical data, takeSubstitution formula (10)
Controller expression formula in, the location point that tapered sleeve at this time aims at, which is calculated, isIn bow wave effect
Interference under, the result specifically docked is that the terminal location of tapered sleeve isThe end of Taper Pipe
End position isButting error is Δ R(k)(T(k)The > R of)=0.42C, therefore this is right
It connects and is judged as failure.Start subsequent docking then according to same process to attempt.
Step 3: iterative learning controller algorithm is realized.
Iterative Learning Control Algorithm form is shown in formula (10) to formula (12), and wherein the parameter of iterative learning controller is chosen as follows
Analysis of simulation result.
It is illustrated in figure 3 the curve graph that preceding four docking are attempted in emulation experiment, it can be seen that dock for the first time, docking misses
Difference reaches 0.5m docking failure, is greatly reduced to 0.23m by second of butting error of study and still fails to the valve into setting
Value, then third time, which starts butting error, to be preferably maintained in setting regions, it is believed that dock successfully.It can be seen that the algorithm is
Stable, and attempt can be realized successfully to dock by docking twice, convergence rate with higher, therefore the present invention is feasible
's.
Claims (4)
1. a kind of anti-interference autonomous docking control method based on the control of terminal iterative learning；It docks in control problem in the sky,
Wherein, controlled device is the tapered sleeve on refueled aircraft, and docking target is the tapered sleeve of fuel charger hose end, it is therefore an objective to by iteration
It practises control and guarantees that Taper Pipe is smoothly inserted into tapered sleeve center under noisy condition；
One docking control problem are as follows: ppr=[xpr ypr zpr]T, indicate the position vector of controlled device, pdr=[xdr ydr
zdr]TThe position vector of target is docked, the two vectors all unified definitions are under a certain coordinate system；Controlled device with dock target
The location error of t is defined as at any time
Wherein, Δ xdr/pr(t),Δydr/pr(t),Δzdr/pr(t) vector Δ p is respectively indicateddr/pr(t) three components；Repulsion is dry
It disturbs usually with Δ pdr/prIt (t) is the function of independent variable, and the nearlyr repulsive interaction of distance is stronger, finally results in the failure of docking；
Radial error Δ R is the important indicator of judgement docking success or not, is defined as the model of the location error component in y-axis and z-axis direction
Number
When primary successfully docking requires controlled device to reach the terminal juncture T of docking objective plane, the radial direction of the position of the two
Error delta R is small as far as possible, and mathematical description is as follows: terminal juncture T is expressed as controlled device and passes through docking target for the first time in the direction x
Plane Δ xdr/prAt the time of=0
T=mint{Δxdr/pr(t)=0 } (3)
The radial error Δ R (T) of terminal juncture is in defined allowable error threshold value RCInterior, it is successful for being considered as specifically docking,
Mathematical definition is as follows
Δ R (T) < RC (4)
Above-mentioned formula (4) referred to as docking success rate judgment criterion, and RCFor the constant formulated according to actual demand, also referred to as miss
Poor threshold value；
Not external interference ideally, the position for docking target will eventually stablize in an equalization point, be denoted asIn view of the presence of random perturbation and repulsion disturbance, docking target can deviate desired equalization point under practical situation
The physical location p of position, i.e. tapered sleeve in terminal juncture Tdr(T) meet following relationship
Wherein,Indicate the position deviation generated by random perturbation, wbowIndicate the position deviation that repulsion effect generates；
Repulsion position deviation wbowWith the two alternate position spike Δ pdr/prCorrelation, i.e., docking target position can with the close of controlled device and
Deviation is generated,
Random site deviation wdrIt is that nature is generally existing, is generated by air, fluid or the vibration on ground；Due to wdrIt is random
Property, it can not be overcome by the method for control, therefore should be avoided in w when docking controldrImplement docking control in the case where very big
System；When state of weather is very poor, and tapered sleeve is significantly swung at random in the sky, docking mission it is almost impossible completion and also it is non-
Often dangerous, therefore bad weather avoids being docked in the air next time；It therefore, can be to docking in actually docking control task
The random perturbation amplitude of target is limited, it is believed that column constraint instantly is thought to can be carried out docking control when meeting
|wdr|≤0.5RC (6)
In iterative learning procedure, need to indicate the position under different the number of iterations and control information；Here with upper right mark (k) table
Show certain variable in the numerical value at kth time docking moment；Indicate location error when kth time docking operation, T(k)It indicates
The terminal time of kth time docking operation, Δ R(k)(T(k)) radial error when indicating kth time docking；Assuming that having carried out n times in total
Docking is attempted, and is docked successfully wherein having m times, is then butted into power and is expressed as
The method controlled by iterative learning, so that radial abutment error delta R(k)(T(k)) with the increase of the number of iterations k it is continuous
Reduce, finally realize in the case that repulsion interfere exist high success rate docking control；
Wherein, A indicates controlled device, and B indicates that inner loop control device, C indicate iterative learning control；Iterative learning controller is with quilt
Control the track p of objectprWith the track p for docking targetdrFor input, the iterative learning by historical data generates suitable tracking
Position signalThe effect of inner loop control device is the state vector x for feeding back controlled deviceprRealize the stability contorting of itself, simultaneously
The given reference position signal of trackingIt realizes stable fixed point tracking, exports the dominant vector u for controlled devicepr；
It is characterised in that it includes following step:
Step 1: the design of inner loop control device guarantees position tracking
The method of posture and position control is highly developed at present, after completing the design of inner loop control device, the ideal feelings that do not interfere with
Under condition, any given coordinate system FTUnder target position three-dimensional vectorControlled device can be reached in terminal juncture T
Specified target positionI.e.Due to the presence of various interference, the presence of tracking error is actually had, because
The position of this terminal juncture is expressed as follows
Wherein,Tracking error vector for the controlled device generated by disturbance；In order to meet docking demand, it is proposed that extremely
It is few to meet
|wpr|≤0.5RC (9)
Tracking error vector wprSize depend on aircraft itself mobility and external interference power；In bad weather feelings
Positional fluctuation is big or controlled device mobility itself is poor under condition causes tracking accuracy very poor, to realize accurate docking
Control is unpractical；Therefore, a constraint of the formula (9) as controlled device performance itself and external interference, is to guarantee docking
The primary condition that control can be carried out successfully；
Step 2: the embodiment for determining iteration docking operation
It needs to carry out solution formulation to entire iterative learning procedure using iterative learning control, when determines when to start to dock
Terminate to dock and return where carries out next iteration；
Iterative learning procedure is described as follows；
(1) controlled device first moves to a certain initial position of docking target rear certain distance, and observes docking target and oneself
The positional fluctuation situation of body；If external world situation is good, the random site deviation of controlled device meets constraint formula (6) and formula (9),
Then think there is the condition successfully docked；
(2) it stays for some time, takes mean value using the track data of docking this period target, acquire the balance position of controlled device
It sets
(3) controlled device is under the effect of interior ring controller slowly close to target positionUntil the moment T that reaches home(k), then
Initial position is returned immediately；
(4) the controlled device position of the terminal juncture of this docking is recordedWith dock target position
Target position next time is calculated by Iterative AlgorithmThen it repeats step (1) and carries out docking trial next time；
Step 3: iterative learning controller algorithm is realized
Iterative Algorithm and controlled device positionWith docking target positionIt is then defeated for input
Desired target docking location outExpression is as follows
WhereinFor estimating that position deviation caused by docking target is interfered because of repulsion, more new law are as follows
AndFor offsetting the tracing deviation of controlled device mobility deficiency generation, more new law is as follows
Two constant vectors involved in two formulas are defined as follows
Wherein,ParameterkliThe utilization rate for indicating historical data closer to 1
It is higher, but iteration speed is slower.
2. the anti-interference autonomous docking control method according to claim 1 based on the control of terminal iterative learning, feature
Be: in step 1, the method for posture and position control includes root locus, POLE PLACEMENT USING and LQR design method.
3. the anti-interference autonomous docking control method according to claim 1 based on the control of terminal iterative learning, feature
Be: in step 2, it is the 2 times or more for taking controlled device length that controlled device, which first moves to docking target rear certain distance,.
4. the anti-interference autonomous docking control method according to claim 1 based on the control of terminal iterative learning, feature
It is: stays for some time and be greater than 10s.
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| CN113184202A (en) * | 2021-05-17 | 2021-07-30 | 湖北怡辉河天科技有限公司 | Image recognition technology-based aerial tanker oil delivery hose early warning method and system |
| CN113848980A (en) * | 2021-10-14 | 2021-12-28 | 北京航空航天大学 | Rigid body aircraft attitude tracking method and system based on iterative learning |
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