CN109508022A - Oil spilling is cooperateed with to surround and seize method with double unmanned boats of towing force compensating based on layering guidance - Google Patents
Oil spilling is cooperateed with to surround and seize method with double unmanned boats of towing force compensating based on layering guidance Download PDFInfo
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Abstract
The present invention relates to marine oil spill recovery technology fields, and in particular to a kind of to cooperate with oil spilling to surround and seize method with double unmanned boats of towing force compensating based on layering guidance.According to known double ships, oil spilling zone position and spilled oil drift speed, restrained to obtain virtual pilotage people's subsequent time planned position by parallel guidance；The expectation bow of unmanned boat is calculated to and obtaining the control rudder angle of unmanned boat to control algolithm using bow, complete track following using LOS method；Using double methods of ship desired point position and the Computing Principle of desired speed is planned again online, error is compensated；Desired rudder angle is finally assigned to unmanned boat auto-steering gear, so that two unmanned boats is driven towards oil spilling area and completes to surround and seize；Technology is surrounded and seize relative to existing oil spilling, the present invention can compensate the error of track following, improve double ship tracking accuracies, realize that efficiently the towing oil fence carries out surrounding and seize oil spilling work for double unmanned boat collaborations.
Description
Technical field
The present invention relates to marine oil spill recovery technology fields, and in particular to a kind of based on layering guidance and towing force compensating
Double unmanned boat collaboration oil spillings surround and seize method.
Background technique
In recent years, it since offshore oil leakage event takes place frequently, is caused to the health of the marine eco-environment and coastal waters resident
Huge harm.If cleared up not in time, oil spilling large area diffusion, the range of harm will be greatly increased.Moreover, oil spilling is waved
Hair can cause different degrees of harm to the health for the personnel for participating in cleaning oil spilling, therefore execute oil spilling using unmanned boat
The work of recycling has biggish practical study meaning.
Application No. is the patent of CN201310695162.7, a kind of unmanned water oil recycling boat, providing one kind, nobody is waterborne
Oily ship is received, the unmanned boat is equipped with oil-collecting device, tower collection cargo tank, and remote control operation, semi-automatic or full-automatic may be implemented
Operation can effectively reduce labor intensity, provide personnel safety.This method provides single unmanned boat ship and carries out oil spilling time
Receive, can not work compound, and be that the oil spilling of recycling is taken in into collection cargo tank, increase the displacement of unmanned boat, cause to return every time
The oil mass of receipts is limited, and recovery efficiency is lower.
Application No. is the patent of CN201610121184.6, a kind of ant colony formula dynamic skimming system and its oil spilling recycling
Multiple unmanned boat groups are transported to oil spilling area using lighter aboard ship, oil spilling area are divided by method, utilize dijkstra's algorithm reality
The selection of existing optimal path, the trajectory planning of unmanned boat is realized with this, completes oil spilling recycling.This method is really that single ship carries out
Oil spilling recycles, and is not carried out collaboration between unmanned boat, and the quantity of unmanned boat is too many, be easy to cause interference each other, even
It can crash.
2015, Jimenez et al. was in document " Fully Automatic Boom Towing by Unmanned
In Ships:Experimental Study ", proposes and surrounded and seize using the double ship oil spillings of method progress of kernel, achieved preferably
Test effect.Patent No. CN201710563410.0, a kind of double unmanned boats of flexible connection formula surrounded and seize towards oil spilling are independently assisted
Same method is to improve on the Research foundation of Jimenez et al., Fuzzy Thought is applied to the row based on kernel
For in fusion.In two methods, calculating the torque that floating cable acts on unmanned boat is the drawing for directlying adopt tension sensor and measuring
The product of the half of power and unmanned boat hull length, does not account for the case where floating cable forms angle with hull, makes the meter of torque
It does not calculate accurately really.
In conclusion there is presently no measure the pulling force of floating cable by tension sensor and angular transducer and angle obtains essence
The method of quasi- floating cable torque, it is therefore desirable to which one kind can plan the method and desired speed of double ship desired point positions again online
Computing Principle, the method that the error of track following is compensated.
Summary of the invention
The purpose of the present invention is to provide cooperate with the oil spilling side of surrounding and seize with double unmanned boats of towing force compensating based on layering guidance
Method effectively avoids causing to surround and seize unsuccessfully because double ship track following errors are excessive, realizes double nothings to improve double ship tracking accuracies
People's ship collaboration towing oil fence carries out surrounding and seize oil spilling.
The embodiment of the present invention is provided cooperates with oil spilling to surround and seize method based on layering guidance with double unmanned boats of towing force compensating, wraps
It includes:
Step 1: assuming that the formation center of two unmanned boats is virtual pilotage people, virtual pilotage people is denoted as R, according to
Double ship positions, oil spilling zone position and the spilled oil drift speed known are restrained using parallel guidance and are calculated, and the subsequent time rule of R are obtained
Draw position；
Step 2: according to the subsequent time planned position for surrounding and seize R described in requirement and step 1 in real time, divided by calculating
The subsequent time planned position of two unmanned boats is not obtained；
Step 3: the subsequent time rule of two unmanned boats according to the current location of two unmanned boats and step 2
Position is drawn, using LOS algorithm, respectively obtains the expectation bow of two unmanned boats to while calculating using bow to Control PID by calculating
Method respectively obtains the control rudder angle of two unmanned boats by calculating, and completes track following；
Step 4: according to the physical location of the desired locations of two unmanned boats and two unmanned boats, rail is obtained by calculation
The error of mark tracking, while double methods of ship desired point position and the Computing Principle of desired speed are planned again using online,
The error for the track following being calculated is compensated；
Step 5: according to the floating cable pulling force and angle measured by tension sensor and angular transducer, using control surface moment public affairs
Formula generates one and floating cable torque contrary control surface moment equal in magnitude, and the benefit of two unmanned boats is respectively obtained by calculating
Repay rudder angle；
Step 6: by by two unmanned boats described in the control rudder angle of two unmanned boats described in step 3 and step 5
Compensation rudder angle be added, respectively obtain the expectation rudder angle of two unmanned boats, two unmanned boats made to drive towards oil spilling with certain formation
Area completes oil spilling and surrounds and seize；
The step 4, comprising:
According to the physical location of the desired locations of two unmanned boats and two unmanned boats, track following is obtained by calculation
Error, while planning double methods of ship desired point position and the Computing Principle of desired speed again using online, to calculating
To the error of track following compensate；
Wherein, the double methods of ship desired point position of the online planning again and the Computing Principle of desired speed are as follows:
Error is divided into lateral error Δ XijAnd longitudinal error Δ Yij, then have:
In above formula, j=1,2 respectively indicate the number of double ships；(Xqij,Yqij) indicate TiThe desired locations of moment double ships；
(Xij,Yij) indicate the physical locations of double ships.
Error is projected perpendicular to ray L and being parallel on the direction ray L respectively, is obtained with ship coordinate system
Under, the error of double ship track followings are as follows:
Comprehensively consider collision prevention between flight pattern control and ship, must be by control errors in the reasonable scope, the choosing of error threshold
Take with the size of unmanned boat and maneuverability, surround and seize task, form into columns require it is related, it is assumed that error must meet:
By planning double methods of ship desired point position and the Computing Principle of desired speed again online, to track following
Error compensate, obtain:
The step 5, comprising:
It is generated according to the floating cable pulling force and angle measured by tension sensor and angular transducer using control surface moment formula
One with floating cable torque contrary control surface moment equal in magnitude, respectively obtain the compensation rudder angle of two unmanned boats by calculating；
It is wherein, described to calculate the compensation rudder angle detailed process for respectively obtaining two unmanned boats are as follows:
During practical oil spilling is surrounded and seize, since oil fence size is larger, the hydrodynamic force being subject to during surrounding and seize oil spilling is larger,
So that floating cable is passed to unmanned boat one and biggish turn bow torque:
M=FL sin φ
In above formula, F indicate to be measured by tension sensor Lai floating cable act on pulling force on unmanned boat；L indicates that pulling force is made
With fore-and-aft distance of the point away from unmanned boat center of gravity, unmanned boat is generally taken to endure the half of body length；φ expression is measured by angular transducer
Floating cable and unmanned boat central fore-and-aft vertical plane angle.
For Active Compensation floating cable torque M to unmanned boat bow to influence, make the bow of unmanned boat to stable in desired bow as early as possible
To needing actively to grasp a rudder angle, generate and floating cable torque torque equal in magnitude, contrary.The expression formula of control surface moment are as follows:
NR=(xR+αHχH)FNcosδ
In above formula, FNWhat is indicated is the normal pressure of rudder, and has:
αHIndicate cross force modifying factor, tRIndicate the rudder power deduction fraction of rudder, χHIndicate Lateral Force line to ship weight
The distance between heart, xRIndicate the longitudinal coordinate of Lateral Force point.And haveλ is rudder aspect ratio, αRGenerally take rudder
Angle δ.
As long as therefore meeting NR=-M, so that it may to avoid floating cable torque to ship bow to interference.That is:
Solve floating cable torque compensation rudder angle:
The step 6, comprising:
Pass through the compensation of two unmanned boats described in the control rudder angle and step 5 by two unmanned boats described in step 3
Rudder angle is added, and respectively obtains the expectation rudder angle of two unmanned boats, two unmanned boats is made to drive towards oil spilling area with certain formation, is completed
Oil spilling is surrounded and seize；
Wherein, the expectation rudder angle of two unmanned boats, is assigned to the auto-steering gear of unmanned boat, it is made to grasp corresponding rudder
Angle, unmanned boat can not be completed track following by LOS method by the interference of floating cable torque；
The beneficial effects of the present invention are:
1. the present invention is measured the pulling force and angle of floating cable by tension sensor and angular transducer, can accurately measure floating
Cable torque proposes the feedforward compensation method for floating cable torque on this basis, makes interference of the unmanned boat not by floating cable torque；
2. the present invention proposes the double methods of ship desired point position of online planning again and the Computing Principle of desired speed, right
The error of track following compensates, it is possible to prevente effectively from causing to surround and seize unsuccessfully because double ship track following errors are excessive.
3. double ship tracking accuracies can be improved in the present invention, realizing double unmanned boat collaborations, efficiently the towing oil fence is enclosed
Catch oil spilling work.
Detailed description of the invention
Fig. 1 is the flow chart for cooperateing with oil spilling to surround and seize method with double unmanned boats of towing force compensating based on layering guidance；
Fig. 2 is the schematic diagram that the present invention resolves position of virtual pilotage people's lower a moment；
Fig. 3 is the schematic diagram of the track following of two unmanned boats of the invention；
Fig. 4 is the schematic diagram of the motion control of two unmanned boats of the invention；
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
It is described further:
The technical scheme of the present invention is realized as follows:
As shown in Figure 2, wherein R is virtual pilotage people, and being directed toward oil spilling and surrounding and seize the ray of target T composition is L, L and X-axis
The angle of formation is σ, is by the distance between R and T vector definitionVirtual pilotage people's speed is VR, oil spilling surrounds and seize target T's
With speed V under the influence of stormy wavesTDrift, VRWith L positive direction formed angle beVTWith L positive direction formed angle beθ is the course angle of robot R.Assuming that the velocity magnitude of virtual pilotage people is a constant, therefore double unmanned boats are successfully surrounded and seize
The key of oil spilling is to obtain the ideal course as outlined angle θ of R.
Then have:
It is restrained by parallel guidance it is found that reaching the mesh that double ships surround and seize oil spilling to make virtual pilotage people meet with target oil spilling
, it needs to meet:
That is:
And have:
It is assumed that TiThe position of moment virtual pilotage people is (Xi,Yi), then Ti+1Desired locations be；
As shown in Figure 3, it was known that virtual pilotage people is two unmanned boats (respectively from ship No.1 f1, from No. two f2's of ship)
Formation center provides the formation of double ships now to be symmetrical about ray L, then double ships are in Ti+1The desired locations at moment are respectively as follows:
Wherein, d indicates the half of double ship spacing, size and oil spill area size, oil fence scale, virtual pilotage people with
The distance dependent of oil spilling.
By taking the LOS track following from ship No.1 f1 as an example, derived by front it is found that the desired locations of f1 subsequent time are
(Xf1,Yf1), according to the data of GPS, it can learn that the current position f1 is (X1,Y1), then the expectation bow of f1 to are as follows:
According to the data of magnetic compass, can learn the current bow of f1 to forIt enablesIndicate expectation bow to
Practical bow to difference, then by PID control calculation can solve control rudder angle:
In being surrounded and seize, the spacing of double ships is excessive, not only will lead to the hydrodynamic force that the oil fence is subject to and greatly increases, bow to
It is more difficult to control, can also make oil spilling be easy to drift out oil fence control range, surround and seize oil spilling unsuccessfully.And double ship spacing are too small,
The efficiency surrounded and seize can be reduced, double ships is even resulted in and collides.In the present invention, a kind of double ships expectations of online planning again are defined
The method of point position, and the Computing Principle of desired speed is proposed, achieve the purpose that compensate the error of track following.
For the ease of the error of compensated trajectory tracking, error is divided into lateral error Δ XijAnd longitudinal error Δ Yij, then
Have:
Wherein, j=1,2 respectively indicate the number of double ships；(Xqij,Yqij) indicate TiThe desired locations of moment double ships；
(Xij,Yij) indicate the physical locations of double ships.
Error is projected perpendicular to ray L and being parallel on the direction ray L respectively, then can be obtained with ship coordinate
Under system, the error of double ship track followings are as follows:
Comprehensively consider collision prevention between flight pattern control and ship, must be by control errors in the reasonable scope, the choosing of error threshold
Take with the size of unmanned boat and maneuverability, surround and seize task, form into columns require it is related, it is assumed that error must meet:
On the basis of the above analysis, in the present invention, the side by planning double ship desired point positions again online is proposed
The Computing Principle of method and desired speed compensates the error of track following:
In actual oil spilling is surrounded and seize, since oil fence size is larger, during surrounding and seize oil spilling, the hydrodynamic force that is subject to
It is larger, so that floating cable is passed to unmanned boat one and biggish turns bow torque:
M=FL sin φ (17)
Wherein, F indicate to be measured by tension sensor Lai floating cable act on pulling force on unmanned boat；L indicates pulling force effect
Fore-and-aft distance of the point away from unmanned boat center of gravity, generally takes unmanned boat to endure the half of body length；φ indicates vertical profile in floating cable and unmanned boat
The angle in face, is measured by angular transducer.
In order to Active Compensation floating cable torque M to unmanned boat bow to influence, it is expected that the bow of unmanned boat to stable as early as possible
Bow is to needing actively to grasp a rudder angle, generate a torque equal in magnitude, contrary with floating cable torque torque.Control surface moment
Expression formula are as follows:
NR=(xR+αHχH)FNcosδ (18)
In formula: FNWhat is indicated is the normal pressure of rudder, and has:
αHIndicate cross force modifying factor, tRIndicate the rudder power deduction fraction of rudder, χHIndicate Lateral Force line to ship weight
The distance between heart, xRIndicate the longitudinal coordinate of Lateral Force point.And haveλ is rudder aspect ratio, αRGenerally take rudder
Angle δ.
As long as meeting NR=-M, so that it may to avoid floating cable torque to ship bow to interference.That is:
Floating cable torque compensation rudder angle can be obtained:
The then expectation rudder angle that unmanned boat finally resolves:
δ1=δc1+Δδ1 (22)
By desired rudder angle δ1To the auto-steering gear from ship No.1, it is made to grasp corresponding rudder angle, it can not be by floating from ship No.1
The interference of cable torque completes track following by LOS method.Double ships complete track following, that is, indicate that double ships are transported with desired formation
Desired locations are moved, the task that oil spilling is surrounded and seize is completed in collaboration.
Claims (4)
1. cooperateing with oil spilling to surround and seize method with double unmanned boats of towing force compensating based on layering guidance characterized by comprising
Step 1: assuming that the formation center of two unmanned boats is virtual pilotage people, virtual pilotage people is denoted as R, according to known
Double ship positions, oil spilling zone position and spilled oil drift speed are restrained using parallel guidance and are calculated, and the subsequent time planning position of R is obtained
It sets；
Step 2: it according to the subsequent time planned position for surrounding and seize R described in requirement and step 1 in real time, is obtained respectively by calculating
To the subsequent time planned position of two unmanned boats；
Step 3: the subsequent time of two unmanned boats according to the current location of two unmanned boats and step 2 plans position
Set, using LOS algorithm, by calculate respectively obtain the expectation bow of two unmanned boats to, while using bow to Control PID algorithm,
The control rudder angle of two unmanned boats is respectively obtained by calculating, and completes track following；
Step 4: according to the physical location of the desired locations of two unmanned boats and two unmanned boats, be obtained by calculation track with
The error of track, while double methods of ship desired point position and the Computing Principle of desired speed are planned again using online, to meter
The error of obtained track following compensates；
Step 5: it is produced according to the floating cable pulling force and angle measured by tension sensor and angular transducer using control surface moment formula
One and floating cable torque contrary control surface moment equal in magnitude are given birth to, the compensation rudder of two unmanned boats is respectively obtained by calculating
Angle；
Step 6: pass through the benefit of two unmanned boats described in the control rudder angle and step 5 by two unmanned boats described in step 3
Rudder angle addition is repaid, the expectation rudder angle of two unmanned boats is respectively obtained, two unmanned boats is made to drive towards oil spilling area with certain formation, it is complete
It is surrounded and seize at oil spilling.
2. according to claim 1 cooperate with oil spilling to surround and seize method based on layering guidance with double unmanned boats of towing force compensating,
It is characterized in that, the step 4, comprising:
According to the physical location of the desired locations of two unmanned boats and two unmanned boats, the mistake of track following is obtained by calculation
Difference, while planning double methods of ship desired point position and the Computing Principle of desired speed again using online, to being calculated
The error of track following compensate；
Wherein, the double methods of ship desired point position of the online planning again and the Computing Principle of desired speed are as follows:
Error is divided into lateral error Δ XijAnd longitudinal error Δ Yij, then have:
In above formula, j=1,2 respectively indicate the number of double ships；(Xqij,Yqij) indicate TiThe desired locations of moment double ships；(Xij,
Yij) indicate the physical locations of double ships；
Error is projected perpendicular to ray L and being parallel on the direction ray L respectively, is obtained under with ship coordinate system, it is double
The error of ship track following are as follows:
Comprehensively consider collision prevention between flight pattern control and ship, must by control errors in the reasonable scope, the selection of error threshold with
The size and maneuverability of unmanned boat, surround and seize task, form into columns require it is related, it is assumed that error must meet:
By planning double methods of ship desired point position and the Computing Principle of desired speed again online, to the mistake of track following
Difference compensates, and obtains:
3. according to claim 1 cooperate with oil spilling to surround and seize method based on layering guidance with double unmanned boats of towing force compensating,
It is characterized by: the step 5, comprising:
One is generated using control surface moment formula according to the floating cable pulling force and angle measured by tension sensor and angular transducer
With floating cable torque contrary control surface moment equal in magnitude, the compensation rudder angle of two unmanned boats is respectively obtained by calculating；
It is wherein, described to calculate the compensation rudder angle detailed process for respectively obtaining two unmanned boats are as follows:
During practical oil spilling is surrounded and seize, since oil fence size is larger, the hydrodynamic force being subject to during surrounding and seize oil spilling is larger, makes to float
Cable passes to unmanned boat one and biggish turns bow torque:
M=FLsin φ
In above formula, F indicate to be measured by tension sensor Lai floating cable act on pulling force on unmanned boat；L indicates pulling force effect point
Fore-and-aft distance away from unmanned boat center of gravity generally takes unmanned boat to endure the half of body length；φ indicates to be measured by angular transducer floating
The angle of cable and unmanned boat central fore-and-aft vertical plane；
For Active Compensation floating cable torque M to unmanned boat bow to influence, make the bow of unmanned boat to as early as possible it is stable desired bow to, need
A rudder angle is actively grasped, is generated and floating cable torque torque equal in magnitude, contrary, the expression formula of control surface moment are as follows:
NR=(xR+αHχH)FNcosδ
In above formula, FNWhat is indicated is the normal pressure of rudder, and has:
αHIndicate cross force modifying factor, tRIndicate rudder rudder power deduction fraction, χ H indicate Lateral Force line to ship center of gravity it
Between distance, xRIt indicates the longitudinal coordinate of Lateral Force point, and hasλ is rudder aspect ratio, αRGenerally take rudder angle δ；
As long as therefore meeting NR=-M, so that it may avoid floating cable torque to ship bow to interference, it may be assumed that
Solve floating cable torque compensation rudder angle:
4. according to claim 1 cooperate with oil spilling to surround and seize method based on layering guidance with double unmanned boats of towing force compensating,
It is characterized by: the step 6, comprising:
Pass through the compensation rudder angle of two unmanned boats described in the control rudder angle and step 5 by two unmanned boats described in step 3
It is added, respectively obtains the expectation rudder angle of two unmanned boats, two unmanned boats is made to drive towards oil spilling area with certain formation, complete oil spilling
It surrounds and seize；
Wherein, the expectation rudder angle of two unmanned boats, is assigned to the auto-steering gear of unmanned boat, it is made to grasp corresponding rudder angle, nothing
People's ship can not be completed track following by LOS method by the interference of floating cable torque.
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| CN110231827A (en) * | 2019-06-12 | 2019-09-13 | 哈尔滨工程大学 | A kind of offline initial construction of UUV geography fence and online rolling update method |
| CN111158380A (en) * | 2020-01-19 | 2020-05-15 | 中电科（宁波）海洋电子研究院有限公司 | Obstacle avoidance method for water surface unmanned ship with towing line array |
| CN113533054A (en) * | 2021-09-17 | 2021-10-22 | 智慧猫(东营)智能科技有限公司 | Be used for railing for oil to produce pulling force area detection device |
| CN113885490A (en) * | 2021-08-02 | 2022-01-04 | 哈尔滨工程大学 | Flexible physical connection-based double unmanned ship formation control method |
| CN114815854A (en) * | 2022-06-27 | 2022-07-29 | 三亚哈尔滨工程大学南海创新发展基地 | Double unmanned boat formation control method for marine target enclosure |
| CN115258073A (en) * | 2022-08-09 | 2022-11-01 | 武汉理工大学 | Track tracking method of ship towing system under environmental interference |
| CN115421490A (en) * | 2022-09-02 | 2022-12-02 | 武汉理工大学 | Floating rope connected double unmanned ship and boat collaborative towing control method and device |
| CN115616920A (en) * | 2022-11-17 | 2023-01-17 | 三亚哈尔滨工程大学南海创新发展基地 | Coupling interference active suppression method in multi-unmanned ship system |
| CN117111440A (en) * | 2023-08-04 | 2023-11-24 | 哈尔滨工程大学 | Interference force estimation and feedforward compensation control method and system for double-boat cooperative system |
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