CN109116857A - A kind of underactuated surface vessel path trace nonlinear control method - Google Patents
A kind of underactuated surface vessel path trace nonlinear control method Download PDFInfo
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Abstract
The present invention provides a kind of underactuated surface vessel path trace nonlinear control method, and the method includes at least: step 1: obtaining the destination path in the virtual ship position information (x at current timed,yd) and azimuth ψdInformation；Step 2: calculating the relative position error z of the real ship and the virtual shipe；Step 3: calculating target position instruction derivative, the real ship directional command signal ψ of the virtual shiprAnd its first derivative and second dervative；Step 4: calculating main frame thrust command signal τuWith yawing control moment command signal τr, judge whether target following error is 0, terminates to track if "Yes", more new state enters step 2 if "No".Using the embodiment of the present invention, the smooth course angle command signal of approximation for obtaining Non-smooth surface curved path turning by pre-filtering method and derivative, the course and yawing control moment for effectively reducing destination path turning are buffeted.
Description
Technical Field
The invention relates to the technical field of ship path tracking, in particular to an under-actuated ship path tracking nonlinear control method.
Background
In the last two decades, path tracking control of an underactuated ship has attracted extensive attention in the field of ship motion control, and a currently common tracking control method is a virtual ship guidance method based on a Line of Sight (LOS) guidance algorithm, as shown in fig. 1. The target path is assumed to be the track of the virtual ship, and the aim of path tracking is achieved by controlling the real ship to accurately track the virtual ship. The guidance method has a good tracking effect on a straight path, a target path needs to be assumed to be a smooth curve for curve tracking, and the problem of course and control force buffeting rejection is caused at a turning position of a non-smooth curve path.
The linear control method based on the determined model has a good effect on the control of the deterministic disturbance system, but for the underactuated ship path tracking control system disturbed by unknown marine environment, the nonlinear and uncertain problems of the ship motion model also need to be faced. Some scholars research the tracking control of the underactuated ship with uncertain model parameters, and the nonlinear ship motion model adopts the following formula:
wherein: (x, y, ψ) is real ship position and heading angle, (u, v, r) is real ship surge, cross and yaw motion state, (m)11,m22,m33) Moment of inertia in three directions of motion (τ)u,τr) Mainly thrust and yaw control moment (tau)wu,τwv,τwr) Ocean perturbation forces and moments for three directions of motion.
The nonlinear control method based on the model needs to assume that the parameters of the nonlinear hydrodynamic part of the model are unknown constants with known dimensions, assume that the nonlinear part is a known smooth function, and realize accurate tracking control of the under-actuated ship by estimating the parameters of the unknown model. However, when the ship is disturbed by severe sea conditions, the nonlinear hydrodynamic part has the characteristics of uncertainty and unmodeled dynamics, and the parameters do not have the characteristics of unknown constants, so that the robustness of the path tracking control system cannot be ensured by the control method based on the model.
Disclosure of Invention
In view of the above drawbacks of the prior art, an object of the present invention is to provide a method for controlling non-linear tracking of an under-actuated ship path, which obtains an approximately smooth course angle command signal and a derivative at a turning of a non-smooth curve path by a pre-filtering method, and effectively reduces the buffeting of the course and the heading control moment at the turning of a target path.
To achieve the above and other related objects, the present invention provides an under-actuated ship path tracking nonlinear control method, which at least includes:
step 1: according to the instruction time sequence signal of the target path generated by the virtual ship, the position information (x) of the virtual ship of the target path at the current moment is obtainedd,yd) And azimuth angle psidInformation;
step 2: calculating the relative position error z of the real ship and the virtual ship according to the measured current time position information (x, y) of the real ship and the heading angle psi signaleLOS course angle operation instruction signal of real ship
And step 3: according to the virtual ship position information, the direction angle information, the relative position error and the LOSThe course angle operation instruction signal calculates the target position instruction derivative of the virtual ship and the real ship course instruction signal psirAnd its first and second derivatives;
and 4, step 4: designing a control rule according to a control strategy of an adaptive backstepping method, and calculating a thrust command signal tau of a hostuAnd yaw control moment command signal taurDriving a real ship to track the virtual ship by the control host and steering;
and 5: and (3) updating the position measurement information of the real ship, judging whether the target tracking error is 0, if so, ending the tracking, and if not, updating the state and entering the step (2).
In one implementation manner of the present invention, the LOS course angle operation instruction signal of the real ship in the step (2)The specific calculation formula of (A) is as follows:
wherein x isdRepresenting the x-axis component, y, of a virtual vesseldA y-axis component representing the virtual vessel, x representing the current time position of the real vessel in the x-axis component, y representing the current time position of the real vessel in the y-axis component, zeRepresenting the relative position error of the real ship and the virtual ship.
In one implementation mode of the invention, the real ship heading command signal psi in the step (3)rAnd its first derivativeAnd second derivativeThe calculation formula of (a) is specifically expressed as:
where ξ and ω are the damping and frequency of the filter, #rIs a filtered real ship course command signal whenIn the case of a constant value, the value of,
in one implementation manner of the present invention, the host thrust command signal τ in step (4)uAnd yaw control moment command signal taurThe calculation formula of (a) is specifically expressed as:
where θ is the real ship motion state, m11And m33As parameters of moment of inertia of the vessel, αuAnd αrFor virtual control signals of thrust and yaw, ueAnd reFor virtual errors of thrust and yaw, k1、k2、δ1、δ2Are all the parameters which are set up,andfor the overall estimation of the nonlinear hydrodynamic part in the under-actuated vessel model,andas an estimate of the upper bound of the disturbance of the marine environment, zeRepresenting the relative position error, psi, of said real and said virtual vesselseAnd tracking the error of the course of the real ship.
As mentioned above, the under-actuated ship path tracking nonlinear control method of the invention obtains the approximate smooth course angle instruction signal and derivative at the turning of the unsmooth curve path by the pre-filtering method, thereby effectively reducing the course and heading control moment buffeting at the turning of the target path; meanwhile, the nonlinear hydrodynamic part in the ship motion model is integrally estimated, prior information of the nonlinear hydrodynamic part is not needed to be known, and robustness of path tracking control under severe sea condition navigation conditions can be improved.
Drawings
FIG. 1 is a schematic flow diagram of the prior art;
FIG. 2 is a flow chart of an under-actuated ship path tracking nonlinear control method based on pre-filtering;
FIG. 3 is a schematic structural diagram of a path tracking control method according to the present invention;
FIG. 4 is a diagram illustrating a result of the ship path tracking control in the embodiment;
FIG. 5 is a schematic diagram of a tracking error of the ship path tracking control in the embodiment;
FIG. 6 is a schematic diagram of the calculation results of the main thrust and the yawing control force of the ship in the embodiment.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.
Please refer to fig. 2-6. It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
As shown in the flow chart of the control system in fig. 2 and the schematic structural diagram of the control method in fig. 3, the nonlinear control method for tracking the path of the under-actuated ship disclosed by the invention is specifically realized as follows:
step 1: planning a reference path, generating a time series signal of the reference path according to the motion track of the virtual ship, and acquiring the tracking target position (x) at the current momentd,yd) And azimuth angle psidAnd entering a tracking control state.
It should be noted that the target path is a track of the virtual ship, and the purpose of path tracking needs to be achieved by controlling the real ship to accurately track the virtual ship in the actual sailing process. It can be understood that, during the navigation of the ship, a coordinate axis can be formed according to the current longitude and latitude information of the ship and the target path of the ship, and on the coordinate axis, the position information of the current time of the ship can be obtained, and the position information changes along the course of the navigation along with the time, so that the position information is a set of signals changing along with the time, and becomes a time series signal, and specifically, the signals can include the position (x) of the ship at each time (the position is the time series signal)d,yd) And the direction angle psid。
Therefore, the process is a ship tracking control state, specifically, the position and the direction angle of the ship at each recording moment can be subjected to curve drawing, the sailing curve of the ship can be obtained, the tracking is convenient, and the ship tracking control state can be carried out in other modes.
Step 2: based on the measured current real ship position (x, y) and the target position (x)d,yd) Obtaining the relative position error z of the real ship and the virtual shipeAnd according to the relative position error z of the real ship and the virtual shipeCalculating the LOS course angle instruction signal of the real shipThe specific expression is as formula (2):
wherein the relative position errorWhen z iseThe situation that the real ship does not track the target position is shown as > 0; z is a radical ofeAnd 0 represents that the real ship tracks the target point of the reference path, and the course angle of the real ship is consistent with that of the virtual ship.
Calculating the real ship heading instruction psi according to the calculation results of the step (1) and the step (2)rAnd its first derivativeAnd second derivativeAnd preparing for controlling the rule.
The planned reference path is a non-smooth continuous curve path, and the derivative of the virtual ship target position instruction can be directly obtained by an analytic methodReal ship course command signal psirAnd the derivative is LOS course angle operation instructionA smoothed signal obtained by a pre-filter represented by equation (3):
the derivative of the target position instruction of the virtual ship may be obtained by directly obtaining a derivative of the function by using an advanced mathematical method, and a specific derivative is obtained according to a specific function, because the target path is different for each ship, the target path is an individual difference, and the embodiment of the present invention is not limited specifically herein.
Wherein the damping of ξ wave filter, omega is the frequency of the filter, the specific value can be set according to the actual working condition, psirThe filtered real ship heading instruction is processedWhen is constant, there are
As shown in fig. 2, a control rule is designed according to the control strategy of the adaptive backstepping method, and a host propulsion control force rejection command signal tau is calculateduAnd yaw control moment command signal taurAnd driving the real ship to track the virtual ship by the control host and the steering device, and finally realizing path tracking control.
The main thrust control moment signal and the yawing control force rejection signal are obtained by calculating the control rules expressed by the formula (4) and the formula (5):
where θ ═ (u, v, r) is the real ship motion state αuAnd αrFor virtual control signals of thrust and yaw, ue＝αu-u and re＝αr-r is the virtual error of thrust and yaw, (k)1,k2,δ1,δ2) For the normal value parameter set according to the actual working condition,andrespectively for the integral estimation of the non-linear hydrodynamic parts of the longitudinal oscillation and heading motion directions in the non-linear motion model of the under-actuated ship,andestimation of the upper bound of unknown marine environment disturbances suffered by the surge and yaw motion directions; since the oscillating motion pose v is assumed to be passively bounded, the design of the control law does not need to take this into account.
As in the formula (6),
in order to be different from the ship motion model in the prior art, the ship nonlinear motion model under the control law respectively and integrally replaces the nonlinear hydrodynamic parts with three motion degrees of freedom with an unknown nonlinear function to form the expression of the formula (6).
Wherein,
wherein, (x, y, psi) is the real ship position and the course angle, (u, v, r) is the real ship surging, horizontal and yawing motion state, (m)11,m22,m33) The moments of inertia for three directions of motion, theta ═ u, v, rTAs motion attitude vector, fu(θ)、 fv(theta) and fr(theta) is a non-linear hydrodynamic function of three directions of motion, (tau)u,τr) Mainly thrust and yaw control moment (tau)wu,τwv,τwr) Ocean perturbation forces and moments for three directions of motion.
Virtual control signal α in control lawuAnd αrCalculated by equation (7) and equation (8), respectively:
wherein (k)ze,kψe) For normal value parameters set according to actual conditions, psie＝ψrPsi is the real ship heading tracking error,is a position tracking error.
And (3) updating the position measurement information of the real ship to judge whether the target tracking error is 0, if so, ending the tracking, and if not, updating the state and entering the step (2).
Example (b): a monohull ship with the length of 3.8 meters is taken as a controlled object, and computer numerical simulation is carried out by using MATLAB. The nonlinear ship motion model is adopted as shown in the formula (6), and specific parameters in the model are as follows.
m11＝120×103m22＝177.9×103m33＝636×105
du1＝215×102dv1＝147×103dr1＝802×104
du2＝0.2du1dv2＝0.2dv1du2＝0.2dv1
du3＝0.1du3dv3＝0.1dv3dr3＝0.1dr3
The fruitIn the embodiment, the designed non-smooth target path is determined by four fixed position points, namely (0,0), (175,0), (450,100) and (650,80), each point is connected by a straight line, and the ship sails in a straight line along the horizontal direction after passing through the fourth point. The initial state of the ship motion attitude at t equal to 0 is [ x%0,y0,ψ0,u0,v0,r0]＝[-80,-20,0,0,0,0]And the disturbance of the marine environment is simulated by adopting a disturbance model in consideration of the complex interference factors of the wind wave flow. Nonlinear hydrodynamic ensemble estimation of surging and yawing freedom for stable operation of path tracking closed-loop control systemsAnd disturbance upper bound estimationAn adaptive algorithm is used in the literature (Jiving Li, Panmook Lee, Bonghuan Jun, Yongkon Lim. Point-to-point navigation of indirect shifts. Automatica,2008,44(12): 3201-.
3-6 show the nonlinear control result of under-actuated ship path tracking based on pre-filtering under the above simulation experiment condition. Fig. 3 is a comparison curve for tracking the actual ship track, which shows that the actual ship track is effectively tracked and controlled, and smooth steering can be realized at the inflection point. Fig. 4 is a tracking error time variation curve, which includes a position tracking error and a heading error, and it can be seen that both the heading error and the position tracking error can be converged in a smaller neighborhood range, and no large-amplitude fluctuation and buffeting phenomenon occurs at an inflection point. Fig. 5 shows time variation curves of the propulsion control force rejection and the steering control force rejection of the host machine obtained by calculation according to the control rules of the formula (4) and the formula (5), and the torque curve is smooth and has no large fluctuation and buffeting. The method has the advantages that the unsmooth curve path tracking control of the under-actuated ship, which is realized by the method, meets the actual requirements of ship motion control engineering, the path tracking control precision can be effectively ensured, the phenomenon of buffeting rejection of course and control force at turning points can be effectively reduced, and the robustness of the path tracking control under complex sea conditions is improved.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (4)
1. An under-actuated ship path tracking nonlinear control method is characterized by comprising the following steps:
step 1: according to the instruction time sequence signal of the target path generated by the virtual ship, the position information (x) of the virtual ship of the target path at the current moment is obtainedd,yd) And azimuth angle psidInformation;
step 2: calculating the relative position error z of the real ship and the virtual ship according to the measured current time position information (x, y) of the real ship and the heading angle psi signaleStation, stationLOS course angle operation instruction signal of real ship
And step 3: calculating a target position instruction derivative of the virtual ship and the real ship course instruction signal psi according to the virtual ship position information, the direction angle information, the relative position error and the LOS course angle operation instruction signalrAnd its first and second derivatives;
and 4, step 4: designing a control rule according to a control strategy of an adaptive backstepping method, and calculating a thrust command signal tau of a hostuAnd yaw control moment command signal taurDriving a real ship to track the virtual ship by the control host and steering;
and 5: and (3) updating the position measurement information of the real ship, judging whether the target tracking error is 0, if so, ending the tracking, and if not, updating the state and entering the step (2).
2. The nonlinear control method for path tracking of the under-actuated ship according to claim 1, characterized in that: the LOS course angle operation instruction signal of the real ship in the step (2)The specific calculation formula of (A) is as follows:
wherein x isdRepresenting the x-axis component, y, of a virtual vesseldA y-axis component representing the virtual vessel, x representing the current time position of the real vessel in the x-axis component, y representing the current time position of the real vessel in the y-axis component, zeRepresenting the relative position error of the real ship and the virtual ship.
3. The nonlinear control method for path tracking of under-actuated ship according to claim 1, characterized in thatCharacterized in that: real ship heading instruction signal psi in step (3)rAnd its first derivativeAnd second derivativeThe calculation formula of (a) is specifically expressed as:
where ξ and ω are the damping and frequency of the filter, #rIs a filtered real ship course command signal whenIn the case of a constant value, the value of,
4. the nonlinear control method for path tracking of the under-actuated ship according to claim 1, characterized in that: the host thrust command signal tau in the step (4)uAnd yaw control moment command signal taurThe calculation formula of (a) is specifically expressed as:
where θ is the real ship motion state, m11And m33As parameters of moment of inertia of the vessel, αuVirtual control signal of thrust, αrFor virtual control signals of yaw, ueAnd reFor virtual errors of thrust and yaw, k1、k2、δ1、δ2Are all the parameters which are set up,andfor the overall estimation of the nonlinear hydrodynamic part in the under-actuated vessel model,andas an estimate of the upper bound of the disturbance of the marine environment, zeRepresenting the relative position error, psi, of said real and said virtual vesselseAnd tracking the error of the course of the real ship.
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