CN109062058A - Ship course track following design method based on adaptive fuzzy optimum control - Google Patents
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- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
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Abstract
The present invention provides a kind of ship course track following design method based on adaptive fuzzy optimum control.The present invention is directed to ship course nonlinear discrete systems, learn adaptive algorithm with fuzzy optimization, the optimal control problem for solving ship course Discrete-time Nonlinear Systems effectively reduces controller energy consumption, reduces steering engine abrasion, improves orientation tracking speed and precision.
Description
Technical field
The present invention relates to ship control technology and manufacturing technology fields, specifically, more particularly to a kind of based on adaptive
The ship course track following design method of fuzzy optimum control.
Background technique
Ship movement has the characteristics that large dead time, big inertia, non-linear, and the variation of the speed of a ship or plane and loading produces Controlling model
Parameter Perturbation, the variation of navigation condition, the interference of environmental parameter and measurement the factors such as inexactness all make ship course control
System processed produces uncertainty.Aiming at the problem that these nonlinear uncertains are brought, intelligent algorithm is constantly applied to ship boat
To control field, such as self adaptive control, robust control, fuzzy adaptivecontroller, iteration sliding formwork control, minimum parameters learning method
Successively it is applied to marine course control system.However, in Most current research there is letter in ship course trajectory track design method
Single, tracking speed is slower, the problem of so as to cause controller energy consumption and steering engine serious wear, therefore considers ship course control
Actual performance requirement processed is less, and higher operating costs is not easy to Project Realization.
Summary of the invention
According to technical problem set forth above, and provide a kind of ship course track based on adaptive fuzzy optimum control
Following design method.Present invention is generally directed to ship course nonlinear discrete system systems to be designed, and controller energy is effectively reduced
Amount consumption reduces steering engine abrasion, improves orientation tracking speed and precision.
The technological means that the present invention uses is as follows:
A kind of ship course track following design method based on adaptive fuzzy optimum control, includes the following steps:
S1, consider that ship steady orbit nonlinear characteristic establishes the ship course Discrete Nonlinear in relation to course angle and rudder angle
Control system mathematical model obtains ship course Discrete Nonlinear control system mathematical model to its sliding-model control；
S2, output and the reference at preset first moment according to ship course Discrete Nonlinear control system mathematical model
Tracing point is compared to obtaining ship course track following error, by the ship course track following error with it is preset next
The reference locus at moment combines the calm letter determined for the ship course Discrete Nonlinear control system that controls and calm
Number；
S3, the ship course track following error amount is judged according to preset threshold value so that it is determined that design performance index,
Utility function is determined according to the design performance index, solves the effectiveness letter using the omnipotent approximation theory of fuzzy logic system
Number solves the relationship of the design performance index and utility function according to the graceful control principle of optimal Bell and misses to obtain evaluation
Difference declines objective function of the rule solution about the error of quality appraisement according to gradient, acquires optimal evaluation signal index；
S4, it is updated according to the adaptive fuzzy of the optimal evaluation signal index Ship ' course Discrete-time Nonlinear Systems
Rate, to obtain the practical controller of the nonlinear ship autopilot system system with evaluation signal.
Further, the step S1 specifically comprises the following steps:
S11, consider ship steady orbit nonlinear characteristic, establish nonlinear ship autopilot system mathematical model are as follows:
In formula,For course angle, δ is rudder angle；K is ship revolution sex index, and T is that ship follows sex index,For not
The nonlinear function known；
S12, definition status variable x1=φ,It is discrete non-to obtain ship course by formula (1) through discretization by u=δ
Linear control system mathematical model:
In formula (2), xi, i=1,2 be the state of system, the input of u (k) system, ykFor the output of system, f2(x2(k))
For unknown nondeterministic function, p=K/T is control gain.
Further, the step S2 specifically comprises the following steps:
S21, definition ship course track following error are e1(k)=x1(k)-yd(k), ydIt (k) is the reference of smooth bounded
Track can be obtained according to ship course track following error:
e1(k+1)=x1(k+1)-yd(k+1)=x2(k)-yd(k+1) (3)
In formula, x2(k) it is inputted for the virtual controlling of formula (3)；
S22, error variance e is defined2(k)=x2(k)-α1(k), α1(k) it is calm function, designs calm function alpha1(k) are as follows:
α1(k)=c1e1(k)+yd(k+1) (4)
C in formula1For constant to be designed.
Further, the step S3 specifically comprises the following steps:
S31, it is based on tracking error e1(k), design performance index q (k) is
C ∈ R is threshold values in formula；
S32, it is according to performance indicator q (k) definition utility function C (k)
β > 0 is weighting coefficient in formula, using the omnipotent approximation theory of fuzzy logic system, can be obtained
In formulaFor ideal adjustable parametric vector,For fuzzy basis function vector,For approximate error；
S33, according to the graceful control principle of optimal Bell, error of quality appraisement e can be obtainedc(k):
In formula Perfect estimation parameter vector,ForTransposition,It is
The estimation of C (k)；
S34, according to formula (8), the objective function for defining optimal evaluation signal index isTo make target
Function Ec(k) reach minimum, rule is declined according to gradient, acquires optimal evaluation signal index: adaptive lawFor
In formulaAdaptive gain parameter γc> 0.
Further, the step S4 specifically comprises the following steps:
S41, error of quality appraisement is defined
To make objective functionReach minimum, based on gradient decline rule, acquires adaptive lawAre as follows:
Wherein, γ > 0 is adaptive gain；
Activation primitiveIt is bounded, i.e.,
S42, unknown function present in nonlinear ship autopilot system is approached using almighty approaching theorem, is obtained
The practical controller of system:
Compared with prior art, the present invention this method is directed to ship course nonlinear discrete systems, with fuzzy optimization
Adaptive algorithm is practised, the optimal control problem of ship course Discrete-time Nonlinear Systems is solved, effectively reduces controller energy and disappear
Consumption reduces steering engine abrasion, while the ship course track following error optimization evaluation signal index established herein fully demonstrates
In backstepping technique, that accelerates system tracks speed can be optimal control purpose again, to significantly improve the speed of orientation tracking
Degree and precision.
The present invention can be widely popularized in ship control technology and manufacturing technology field based on the above reasons.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to do simply to introduce, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is design method flow chart of the present invention.
Fig. 2 is software block diagram of the present invention.
Fig. 3 is the result schematic diagram that design method of the present invention emulates.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
As shown in Figure 1 and Figure 2, the present invention provides it is a kind of based on the ship course track of adaptive fuzzy optimum control with
Track design method, includes the following steps:
S1, consider that ship steady orbit nonlinear characteristic establishes the ship course Discrete Nonlinear in relation to course angle and rudder angle
Control system mathematical model obtains ship course Discrete Nonlinear control system mathematical model to its sliding-model control；
The step S1 specifically comprises the following steps:
S11, consider ship steady orbit nonlinear characteristic, establish nonlinear ship autopilot system mathematical model are as follows:
In formula,For course angle, δ is rudder angle；K is ship revolution sex index, and T is that ship follows sex index,For not
The nonlinear function known；
S12, definition status variable x1=φ,It is discrete non-to obtain ship course by formula (1) through discretization by u=δ
Linear control system mathematical model:
In formula (2), xi, i=1,2 be the state of system, the input of u (k) system, ykFor the output of system, f2(x2(k))
For unknown nondeterministic function, p=K/T is control gain.
S2, output and the reference at preset first moment according to ship course Discrete Nonlinear control system mathematical model
Tracing point is compared to obtaining ship course track following error, by the ship course track following error with it is preset next
The reference locus at moment combines the calm function of determining control and the ship course Discrete Nonlinear control system of calming；
The step S2 specifically comprises the following steps:
S21, definition ship course track following error are e1(k)=x1(k)-yd(k), ydIt (k) is the reference of smooth bounded
Track can be obtained according to ship course track following error:
e1(k+1)=x1(k+1)-yd(k+1)=x2(k)-yd(k+1) (3)
In formula, x2(k) it is inputted for the virtual controlling of formula (3)；
S22, error variance e is defined2(k)=x2(k)-α1(k), α1(k) it is calm function, designs calm function alpha1(k) are as follows:
α1(k)=c1e1(k)+yd(k+1) (4)
C in formula1For constant to be designed.
S3, the ship course track following error amount is judged according to preset threshold value so that it is determined that design performance index,
Utility function is determined according to the design performance index, solves the effectiveness letter using the omnipotent approximation theory of fuzzy logic system
Number solves the relationship of the design performance index and utility function according to the graceful control principle of optimal Bell and misses to obtain evaluation
Difference declines objective function of the rule solution about the error of quality appraisement according to gradient, acquires optimal evaluation signal index；
The step S3 specifically comprises the following steps:
S31, it is based on tracking error e1(k), design performance index q (k) is
C ∈ R is threshold values in formula；
S32, it is according to performance indicator q (k) definition utility function C (k)
β > 0 is weighting coefficient in formula, using the omnipotent approximation theory of fuzzy logic system, can be obtained
In formulaFor ideal adjustable parametric vector,For fuzzy basis function vector,For approximate error；
S33, according to the graceful control principle of optimal Bell, error of quality appraisement e can be obtainedc(k):
In formula Perfect estimation parameter vector,ForTransposition,It is
The estimation of C (k)；
S34, according to formula (8), the objective function for defining optimal evaluation signal index isTo make target
Function Ec(k) reach minimum, rule is declined according to gradient, acquires optimal evaluation signal index: adaptive lawFor
In formulaAdaptive gain parameter γc> 0.
S4, it is updated according to the adaptive fuzzy of the optimal evaluation signal index Ship ' course Discrete-time Nonlinear Systems
Rate, to obtain the practical controller of the ship course nonlinear control system with evaluation signal.
The step S4 specifically comprises the following steps:
S41, definitionFor
Make objective functionReach minimum, based on gradient decline rule, acquires adaptive lawFor
γ > 0 is adaptive gain in formula；
S42, unknown function present in nonlinear ship autopilot system is approached using almighty approaching theorem, is obtained
The practical controller of system:
In formula,Activation primitiveIt is bounded, i.e.,
Embodiment 1
Based on the above method, by taking practical ship as an example, Computer Simulation is carried out.It is known: certain ship course Discrete Nonlinear
System mathematic model parameter a1=1, a2=30, K=0.2, T=64, the parameter γ=0.05, γ of designc=0.01, β=
0.05.Verify the validity of this paper control algolithm.Tracking signal chooses the mathematical model that can represent actual performance requirement:
φm(k+2)+0.1φm(k+1)+0.0025φm(k)=0.0025 φr(k) (13)
In formula,For the idealized system performance of ship course,It is a warp
The input signal of processing is crossed, value is 0 °~30 °, period 500s.
The simulation result of the present embodiment is as shown in Figure 3.As seen from the figure, the adaptive fuzzy optimal algorithm of this method design,
Control system obtains desired system output soon, has good tracking performance.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (5)
1. a kind of ship course track following design method based on adaptive fuzzy optimum control, which is characterized in that including such as
Lower step:
S1, consider that ship steady orbit nonlinear characteristic is established in relation to course angle and the control of the ship course Discrete Nonlinear of rudder angle
System mathematic model obtains ship course Discrete Nonlinear control system mathematical model to its sliding-model control；
S2, the output according to ship course Discrete Nonlinear control system mathematical model and the reference locus at preset first moment
Point passes through the ship course track following error and preset subsequent time compared to ship course track following error is obtained
Reference locus combine and determine calm function for the ship course Discrete Nonlinear control system that controls and calm；
S3, the ship course track following error amount is judged according to preset threshold value so that it is determined that design performance index, according to
The design performance index determines utility function, solves the utility function using the omnipotent approximation theory of fuzzy logic system,
The relationship of the design performance index and utility function is solved according to the graceful control principle of optimal Bell to obtain error of quality appraisement, root
Decline objective function of the rule solution about the error of quality appraisement according to gradient, acquires optimal evaluation signal index；
S4, according to it is described it is optimal evaluation signal index Ship ' course Discrete-time Nonlinear Systems adaptive fuzzy turnover rate,
To obtain the practical controller of the ship course nonlinear control system with evaluation signal.
2. the ship course track following design method according to claim 1 based on adaptive fuzzy optimum control,
It is characterized in that, the step S1 specifically comprises the following steps:
S11, consider ship steady orbit nonlinear characteristic, establish nonlinear ship autopilot system mathematical model are as follows:
In formula,For course angle, δ is rudder angle；K is ship revolution sex index, and T is that ship follows sex index,It is unknown
Nonlinear function；
S12, definition status variable x1=φ,U=δ obtains ship course Discrete Nonlinear by formula (1) through discretization
Control system mathematical model:
In formula (2), xi, i=1,2 be the state of system, the input of u (k) system, ykFor the output of system, f2(x2It (k)) is unknown
Nondeterministic function, p=K/T be control gain.
3. the ship course track following design method according to claim 2 based on adaptive fuzzy optimum control,
It is characterized in that, the step S2 specifically comprises the following steps:
S21, definition ship course track following error are e1(k)=x1(k)-yd(k), ydIt (k) is the reference locus of smooth bounded,
It can be obtained according to ship course track following error:
e1(k+1)=x1(k+1)-yd(k+1)=x2(k)-yd(k+1) (3)
In formula, x2(k) it is inputted for the virtual controlling of formula (3)；
S22, error variance e is defined2(k)=x2(k)-α1(k), α1(k) it is calm function, designs calm function alpha1(k) are as follows:
α1(k)=c1e1(k)+yd(k+1) (4)
C in formula1For constant to be designed.
4. the ship course track following design method according to claim 3 based on adaptive fuzzy optimum control,
It is characterized in that, the step S3 specifically comprises the following steps:
S31, it is based on tracking error e1(k), design performance index q (k) is
C ∈ R is threshold values in formula；
S32, it is according to performance indicator q (k) definition utility function C (k)
β > 0 is weighting coefficient in formula, using the omnipotent approximation theory of fuzzy logic system, can be obtained
In formulaFor ideal adjustable parametric vector,For fuzzy basis function vector,For approximate error；
S33, according to the graceful control principle of optimal Bell, error of quality appraisement e can be obtainedc(k):
In formula Perfect estimation parameter vector,ForTransposition,It is C (k)
Estimation；
S34, according to formula (8), the objective function for defining optimal evaluation signal index isTo make objective function
Ec(k) reach minimum, rule is declined according to gradient, acquires optimal evaluation signal index: adaptive lawFor
In formulaAdaptive gain parameter γc> 0.
5. the ship course track following design method according to claim 4 based on adaptive fuzzy optimum control,
It is characterized in that, the step S4 specifically comprises the following steps:
S41, definitionTo make mesh
Scalar functionsReach minimum, based on gradient decline rule, acquires adaptive lawFor
γ > 0 is adaptive gain in formula；
S42, the fuzzy logic system with evaluation signal established based on above steps, using almighty approaching theorem to ship
Unknown function present in the nonlinear system of course is approached, and the practical controller of system is obtained:
In formula,Activation primitiveIt is bounded, i.e.,
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| CN110703605A (en) * | 2019-10-29 | 2020-01-17 | 大连海事大学 | Self-adaptive fuzzy optimal control method and system for intelligent ship autopilot system |
| CN110989340A (en) * | 2019-11-04 | 2020-04-10 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七一二研究所） | Design method of intelligent controller |
| CN111948937A (en) * | 2020-07-20 | 2020-11-17 | 电子科技大学 | Multi-gradient recursive reinforcement learning fuzzy control method and system of multi-agent system |
| CN111880413A (en) * | 2020-08-12 | 2020-11-03 | 东南大学 | Adaptive dynamic surface algorithm for ship course keeping |
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| CN116300949A (en) * | 2023-03-29 | 2023-06-23 | 大连海事大学 | Course tracking control method and system for discrete time reinforcement learning unmanned ship |
| CN116400691A (en) * | 2023-03-29 | 2023-07-07 | 大连海事大学 | Novel discrete time specified performance reinforcement learning unmanned ship course tracking control method and system |
| CN116400691B (en) * | 2023-03-29 | 2023-11-21 | 大连海事大学 | Novel discrete time specified performance reinforcement learning unmanned ship course tracking control method and system |
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