CN109407671A - A kind of drive lacking unmanned boat target surrounds controller architecture and design method - Google Patents
A kind of drive lacking unmanned boat target surrounds controller architecture and design method Download PDFInfo
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- CN109407671A CN109407671A CN201811512474.9A CN201811512474A CN109407671A CN 109407671 A CN109407671 A CN 109407671A CN 201811512474 A CN201811512474 A CN 201811512474A CN 109407671 A CN109407671 A CN 109407671A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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Abstract
Controller architecture is surrounded the invention discloses a kind of drive lacking unmanned boat target and design method, the structure are made of position calculation unit, speed observer, fuzzy close device, distance controller, direction controller and Dynamics Controller；The position calculation unit receives unmanned boat state and target relative position information；Speed observer receives unmanned boat velocity information, and distance controller receives given around distance；Dynamics Controller is connected with controlled drive lacking unmanned boat and fuzzy close device；The fuzzy close device receives unmanned boat status information.The present invention realizes unmanned boat and controls the encirclement of time-varying speed target.Relative dynamic information can be effectively estimated in the controller using unmanned boat state and target relative position information, and designs control rate based on Backstepping.Controller only utilizes angular velocity signal that can realize that target surrounds control, therefore is not only suitable for driving unmanned boat entirely, is also applied for drive lacking unmanned boat.
Description
Technical field
The present invention relates to water surface unmanned boat control fields more particularly to a kind of target for drive lacking unmanned boat to surround control
Device structure and design method processed.This control mode can play in the tasks such as convoy of forming into columns, patrol on the sea and targeted surveillance
Important role.
Background technique
Water surface unmanned boat protects ocean as the mankind and develops the important tool of ocean, miniaturization, intelligence unmanned by its
The advantages of capable of changing, is used widely in military, civilian and scientific research field.In a variety of unmanned boat control programs, calm, rail is put
Four kinds of mark tracking, path trace and target following control modes have obtained more universal concern and research.And target is surrounded and is made
For a kind of important control mode, achievement is less in motion control field in unmanned boat.It is driving that unmanned boat target, which surrounds control,
Unmanned boat moves in a circle close to an object ship and with desired distance around the target.This control mode is in shield of forming into columns
It can play an important role in the tasks such as boat, patrol on the sea and targeted surveillance.Therefore, a kind of unmanned boat target encirclement control is designed
Device processed be very it is necessary to.
It is surrounded in controller design in target, has been achieved with some results of study, such as Chinese patent both at home and abroad
CN107065877A discloses a kind of distributed spherical method for surrounding tracking unknown object of forming into columns based on relative position, the party
Method includes the following steps:
A) its range-to-go is calculated by the relative position of movable body to target and neighbours, around the angle of latitude and warp of target
Spend angle and with backfence relative altitude angle and longitude angle；
B) spherical surface tracking, broadwise are further calculated on the basis of step a) and through to formation error, design object rate
Single order estimate rule；
C) by targeted rate single order estimate, design movable body normal direction, through to the desired speed in broadwise；
D) by the velocity error and its derivative between reality and desired speed, the second order of design object rate estimates rule；
E) by the estimation twice of targeted rate and velocity error, design movable body normal direction, through to broadwise control force；
F) connection column solve the control force input of movable body.
This method has the disadvantage that in terms of controller architecture and controller design
First, it is for target design that is static or slowly moving, this kind of control that existing target, which surrounds controller much,
Device is not suitable for surrounding quick, time-varying speed mobile target.
Second, existing target surrounds controller design based on full driving model mostly, and practical major part ship mould
Type is drive lacking, and controller does not account for the drift motion in unmanned boat motion process, thus be not suitable for drive lacking without
People's ship motion control.
Summary of the invention
To solve the above problems existing in the prior art, the present invention to design one kind be not only suitable for surround quickly, when speed change
The mobile target of degree, but the drive lacking unmanned boat target for being suitable for the motion control of drive lacking unmanned boat is surrounded controller architecture and is set
Meter method.
To achieve the goals above, technical scheme is as follows: a kind of drive lacking unmanned boat target encirclement controller
Structure is by position calculation unit, speed observer, fuzzy close device, distance controller, direction controller and Dynamics Controller
Composition；The position calculation unit input terminal receives unmanned boat state and target relative position information；Position calculation unit is defeated
Outlet is connected with the input terminal of speed observer, distance controller and direction controller respectively；The speed observer is another defeated
Enter end receive unmanned boat velocity information, speed observer output end respectively with distance controller and direction controller input terminal phase
Even；The distance controller input terminal receives given around distance；Distance controller output end and direction controller input terminal phase
Even；The direction controller output end is connected with Dynamics Controller input terminal；Another input terminal of Dynamics Controller with
Fuzzy close device output end is connected；Dynamics Controller output end and controlled drive lacking unmanned boat input terminal and fuzzy close device are defeated
Enter end to be connected；Another input terminal of fuzzy close device receives unmanned boat status information.
Kinematics model below the goal satisfaction:
Wherein: xt, yt,Respectively represent position and yawing angle information of the target in x, y-axis under terrestrial reference system；
ut,vt,rt∈ R indicates that target surging speed, lateral drift speed and yawing angular speed under hull referential, R indicate set of real numbers.
The controlled unmanned boat of the drive lacking meets following kinematics model:
And kinetic model:
Wherein x, y,Respectively represent position and yaw angle letter of the controlled unmanned boat in x, y-axis under terrestrial reference system
Breath；U, v, r ∈ R indicate controlled unmanned boat surging speed, lateral drift speed and yawing angular speed under hull referential；mu,mv,mr∈R
It is unmanned boat all directions inertia coeffeicent under hull coordinate system；fu(·),fv(·),fr() ∈ R is the unknown of unmanned boat all directions
Nonlinear function；τwu(t),τwv(t),τwr(t) ∈ R represents time-varying stormy waves stream in all directions disturbance caused by unmanned boat, τu,τr
∈ R is the control input of controlled drive lacking unmanned boat.
A kind of drive lacking unmanned boat target surrounds the design method of controller, comprising the following steps:
A, the design of position calculation unit
The input signal of position calculation unit be controlled unmanned boat posture information x, y,With the location information for surrounding target
xt,yt, it is as follows as the input of observer and controller:
Wherein, ρ indicates controlled unmanned boat and surrounds distance between target, and β indicates sighting distance angle of the target relative to unmanned boat,
η indicate unmanned stem to sighting distance vertical line angular separation, ρu,ρvIndicate that unmanned boat and target are opposite with lateral drift direction in surging
Distance.
B, the design of speed observer
The input signal of speed observer is controlled unmanned boat angular speed r and calculates link output ρu,ρv, η, observer knot
Structure design is as follows:
Wherein,Respectively indicate ρu,us,ρv,vs,η,σηEstimated value, kiIt is observer parameter, ki
> 0, i=1 ..., 6.
C, the design of fuzzy close device
The input signal of fuzzy close device is that unmanned boat velocity information u, r and Dynamics Controller export τu,τr, design original
Reason is approached based on fuzzy system.
Fuzzy system is made of fuzzy rule base, blurring mechanism and defuzzification mechanism.Enable weight vector ΞT=[Ξ1,
Ξ2,...,ΞN] and function β (χ)=[β1(χ),β2(χ),...,βN(χ)]T, in which:
In formula,For member function, then fuzzy system indicates are as follows:
Y (χ)=ΞTβ(χ) (7)
Fuzzy close device is made of prediction device and right value update rate two parts, and wherein prediction device modular structure is as follows:
In formula,For mu,mrApproximation,Indicate u, v, Ξu,ΞrEstimated value, k7,k8It is fuzzy
Approach device parameter, χu=[u (t), u (t-td),τu], χr=[r (t), r (t-td),τr]。
The design of right value update rate is as follows:
In formula, Γu,Γr,It is right value update parameter.
D, the design of distance controller
The input of distance controller is to the output of set a distance and position calculation unit and speed observer, distance controller
Design is based on sighting distance air navigation aid, structure are as follows:
In formula, ρe=ρ-ρdIndicate range error, ηdTo give predetermined curvature signal, Δ is the forward sight distance of sighting distance navigation method.
E, the design of direction controller
The input of direction controller is given angle of contact and computing unit, speed observer output, direction controller design
Based on Backstepping, structure is as follows:
In formula, ηe=η-ηdIt indicates to surround angle error, rdFor to fixed angular speed, krFor direction controller parameter.
F, the design of Dynamics Controller
The input of Dynamics Controller is given speed, to fixed angular speed and the output of fuzzy close device, Dynamics Controller
Design is based on Backstepping, and structure is as follows:
In formula, ue=u-ud,re=r-rdIndicate velocity error and angular speed error, τu,τrIt is the defeated of Dynamics Controller
Signal out, kτu,kτrFor Dynamics Controller parameter.
Compared with prior art, the invention has the following advantages:
First, compared with the existing target encirclement controller for being directed to full driving model or balance car modelling, the present invention
The target of design surrounds method and is based on the unmanned boat system of drive lacking, and the guidance method navigated using sighting distance realizes drift motion
And external environment disturbs the target encirclement control of lower drive lacking unmanned boat, has expanded unmanned boat motion control field.
Second, with for the target that compared with static or known speed target, the present invention is designed surround method be based on it is unknown,
The target of time-varying speed, by designing the speed observer based on active disturbance rejection principle, realizing controlled unmanned boat and surrounding target
The real-time observation of relative velocity expands the application range that target surrounds method.
Third, with existing based on compared with adaptive neural network estimation method, the present invention is by design based on prediction device
Fuzzy system approaches device, approaches external as caused by uncertain, the fluid dynamic unmodeled, stormy waves and ocean current of model parameter
The unknown nonlinear function for interfering composition efficiently solves the state observation containing model uncertainty and circumstances not known disturbance and asks
Topic has the advantages that the approach time is short, transient state is shaken small, improves the control performance that target is surrounded.
4th, in conclusion the invention proposes one kind based on sighting distance navigation system to solve the shortcomings of the prior art
The drive lacking unmanned boat target led surrounds controller architecture and design method, realizes encirclement of the unmanned boat to time-varying speed target
Control.Relative dynamic information can be effectively estimated using unmanned boat state and target relative position information in the controller, and is based on
Backstepping designs control rate.Controller only utilizes angular velocity signal that can realize that target surrounds control, therefore is not only suitable for complete
Unmanned boat is driven, drive lacking unmanned boat is also applied for.
Detailed description of the invention
Fig. 1 is that drive lacking unmanned boat target surrounds controller architecture schematic diagram.
Fig. 2 is drive lacking unmanned boat target envelope of motion track emulation figure.
Fig. 3 is that drive lacking unmanned boat target surrounds range error analogous diagram.
Fig. 4 is that drive lacking unmanned boat target surrounds surging velocity error analogous diagram.
Fig. 5 is that target surrounds surge direction relative velocity and speed observer result analogous diagram.
Fig. 6 is that target surrounds lateral drift direction relative velocity and speed observer result analogous diagram.
Fig. 7 is that target surrounds yawing direction unknown function and speed observer result analogous diagram.
Fig. 8 is that the target encirclement practical dynamics of surge direction is not known and fuzzy close device result analogous diagram.
Fig. 9 is that the target encirclement practical dynamics in yawing direction is not known and fuzzy close device result analogous diagram.
Figure 10 is that drive lacking unmanned boat target surrounds controller surge direction output signal analogous diagram.
Figure 11 is that drive lacking unmanned boat target surrounds controller yawing direction output signal analogous diagram.
Specific embodiment
Target is carried out below for a specific unmanned boat and surrounds control, and the present invention is carried out furtherly as example
It is bright.Fig. 1 is the structural diagram of the present invention, first rewrites the kinematics model (2) of controlled unmanned boat and kinetic model (3)
It does:
Wherein:
The design parameter selection of unmanned ship model is as follows:
Encirclement target velocity is ut=0.2+0.5sin (π t/800), rt=-0.01cos (π t/500), control target are set as
ρd=10, ud=1+0.1sin (t/10), controlled unmanned boat are set to target initial position
WithController architecture is surrounded using target and meets formula (4)-(12), specific selection of control parameter
It is as follows:
k1=20, k2=100, k3=20, k4=100, k5=20, k6=100, k7=220, k8=220
Γu=1000,Γr=500,
Δ=5, kr=6, kτu=5, kτr=5,
Simulation result is as shown in figs. 2-11.Fig. 2 is drive lacking unmanned boat target envelope of motion trajectory diagram, it can be seen that controlled
Unmanned boat can be moved around time-varying speed target；Fig. 3-4 is that unmanned boat target surrounds Error Graph, it can be seen that target surrounds control
Range error and velocity error processed can converge near zero within a short period of time；Fig. 5-7 is that target surrounds speed observer knot
Fruit is compared with actual value, it can be seen that speed observer can effectively observe relative velocity；Fig. 8-9 is that target surrounds fuzzy force
Nearly device result is compared with actual value, it can be seen that unmanned boat kinematics nondeterministic function can be effectively estimated in fuzzy close device；
Figure 10-11 is that target surrounds controller output signal, shows output signal bounded.
By simulation result it is found that the drive lacking target of design surround controller being capable of accurate and effective encirclement speed time-varying, not
The moving target known, while unknown relative velocity and dynamics can be effectively estimated in its speed observation module and fuzzy close module
It is uncertain, meet design object.
The present invention is not limited to the present embodiment, any equivalent concepts within the technical scope of the present disclosure or changes
Become, is classified as protection scope of the present invention.
Claims (2)
1. a kind of drive lacking unmanned boat target surrounds controller architecture, it is characterised in that: observed by position calculation unit, speed
Device, fuzzy close device, distance controller, direction controller and Dynamics Controller composition；The position calculation unit input
End receives unmanned boat state and target relative position information；Position calculation unit output end is controlled with speed observer, distance respectively
Device processed is connected with the input terminal of direction controller；Another input terminal of speed observer receives unmanned boat velocity information, speed
Observer output end is connected with distance controller and direction controller input terminal respectively；The distance controller input terminal receive to
Surely distance is surrounded；Distance controller output end is connected with direction controller input terminal；The direction controller output end and power
Controller input terminal is learned to be connected；Another input terminal of Dynamics Controller is connected with fuzzy close device output end；Dynamics control
Device output end processed is connected with controlled drive lacking unmanned boat input terminal and fuzzy close device input terminal；The fuzzy close device is another defeated
Enter end and receives unmanned boat status information；
Kinematics model below the goal satisfaction:
Wherein:Respectively represent position and yawing angle information of the target in x, y-axis under terrestrial reference system；ut,vt,
rt∈ R indicates that target surging speed, lateral drift speed and yawing angular speed under hull referential, R indicate set of real numbers；
The controlled unmanned boat of the drive lacking meets following kinematics model:
And kinetic model:
WhereinRespectively represent position and yawing angle information of the controlled unmanned boat in x, y-axis under terrestrial reference system；u,
V, r ∈ R indicate controlled unmanned boat surging speed, lateral drift speed and yawing angular speed under hull referential；mu,mv,mr∈ R is ship
Unmanned boat all directions inertia coeffeicent under body coordinate system；fu(·),fv(·),fr() ∈ R is the unknown non-thread of unmanned boat all directions
Property function；τwu(t),τwv(t),τwr(t) ∈ R represents time-varying stormy waves stream in all directions disturbance caused by unmanned boat, τu,τr∈R
It is the control input of controlled drive lacking unmanned boat.
2. the design method that a kind of drive lacking unmanned boat target surrounds controller, it is characterised in that: the following steps are included:
A, the design of position calculation unit
The input signal of position calculation unit is controlled unmanned boat posture informationWith the location information x for surrounding targett,yt,
It is as follows as the input of observer and controller:
Wherein, ρ indicates controlled unmanned boat and surrounds distance between target, and β indicates sighting distance angle of the target relative to unmanned boat, η table
Show unmanned stem to sighting distance vertical line angular separation, ρu,ρvIndicate unmanned boat and target surging and lateral drift direction it is opposite away from
From；
B, the design of speed observer
The input signal of speed observer is controlled unmanned boat angular speed r and calculates link output ρu,ρv, η, Observer Structure sets
It counts as follows:
Wherein,Respectively indicate ρu,us,ρv,vs,η,σηEstimated value, kiIt is observer parameter, ki> 0, i
=1 ..., 6；
C, the design of fuzzy close device
The input signal of fuzzy close device is that unmanned boat velocity information u, r and Dynamics Controller export τu,τr, design principle base
It is approached in fuzzy system；
Fuzzy system is made of fuzzy rule base, blurring mechanism and defuzzification mechanism；Enable weight vector ΞT=[Ξ1,
Ξ2,...,ΞN] and function β (χ)=[β1(χ),β2(χ),...,βN(χ)]T, in which:
In formula,For member function, then fuzzy system indicates are as follows:
Y (χ)=ΞTβ(χ) (7)
Fuzzy close device is made of prediction device and right value update rate two parts, and wherein prediction device modular structure is as follows:
In formula,For mu,mrApproximation,Indicate u, v, Ξu,ΞrEstimated value, k7,k8It is fuzzy close device
Parameter, χu=[u (t), u (t-td),τu], χr=[r (t), r (t-td),τr]；
The design of right value update rate is as follows:
In formula,It is right value update parameter；
D, the design of distance controller
The input of distance controller is to the output of set a distance and position calculation unit and speed observer, distance controller design
Based on sighting distance air navigation aid, structure are as follows:
In formula, ρe=ρ-ρdIndicate range error, ηdTo give predetermined curvature signal, Δ is the forward sight distance of sighting distance navigation method；
E, the design of direction controller
The input of direction controller is given angle of contact and computing unit, speed observer output, and direction controller design is based on
Backstepping, structure are as follows:
In formula, ηe=η-ηdIt indicates to surround angle error, rdFor to fixed angular speed, krFor direction controller parameter；
F, the design of Dynamics Controller
The input of Dynamics Controller is given speed, to fixed angular speed and the output of fuzzy close device, Dynamics Controller design
Based on Backstepping, structure is as follows:
In formula, ue=u-ud,re=r-rdIndicate velocity error and angular speed error, τu,τrIt is the output letter of Dynamics Controller
Number, kτu,kτrFor Dynamics Controller parameter.
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