CN109508022B - Double-unmanned-boat collaborative oil spilling trapping method based on layered guidance and drag force compensation - Google Patents
Double-unmanned-boat collaborative oil spilling trapping method based on layered guidance and drag force compensation Download PDFInfo
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Abstract
The invention relates to the technical field of ocean oil spill recovery, in particular to a double unmanned ship collaborative oil spill containment method based on layered guidance and drag force compensation. Obtaining the planned position of the virtual pilot at the next moment by a parallel guidance law according to the known positions of the double boats and the oil spilling areas and the drift velocity of oil spilling; calculating the expected heading of the unmanned ship by using an LOS method, and obtaining a control rudder angle of the unmanned ship by using a heading control algorithm to complete track tracking; compensating errors by using a method for replanning the positions of the expected points of the double boats on line and a calculation principle of expected speed; finally, the expected rudder angle is issued to the unmanned boat autopilot device, and two unmanned boats are driven to the oil spilling area to finish the enclosure; compared with the existing oil spill containment technology, the method can compensate the track tracking error, improve the track tracking precision of the double-boat, and realize the cooperative efficient towing of the double unmanned boats on the oil containment boom to carry out containment and oil spill work.
Description
Technical Field
The invention relates to the technical field of ocean oil spill recovery, in particular to a double unmanned ship collaborative oil spill containment method based on layered guidance and drag force compensation.
Background
In recent years, marine ecological environment and the health of offshore residents are greatly damaged due to frequent offshore oil leakage events. If the oil is not cleaned in time, the spilled oil is diffused in a large area, and the damage range is greatly increased. Moreover, the oil spill volatilization can cause harm to the health of personnel who participate in oil spill cleaning to different degrees, so that the work of adopting unmanned boats to execute oil spill recovery has great practical research significance.
The patent with the application number of CN201310695162.7, an unmanned oily boat of receiving on water provides an unmanned oily boat of receiving on water, unmanned boat is equipped with oil collecting device, tower oil collection cabin, can realize remote control operation, semi-automatic or full-automatic operation, can effectively alleviate intensity of labour, provides personnel's security. The method provides that a single unmanned boat carries out oil spill recovery, the cooperative operation cannot be carried out, and the recovered oil spill is collected into the oil collecting cabin, so that the displacement of the unmanned boat is increased, the oil recovery amount in each time is limited, and the recovery efficiency is low.
The patent with the application number of CN201610121184.6, an ant colony type dynamic oil spill recovery system and an oil spill recovery method thereof, wherein a plurality of unmanned boat groups are transported to an oil spill area by a mother-son ship, the oil spill area is divided, and the optimal path is selected by utilizing a Dijkstra algorithm, so that the flight path planning of the unmanned boat is realized, and the oil spill recovery is completed. The method is characterized in that oil spillage recovery is actually carried out on a single boat, cooperation is not achieved among unmanned boats, the number of the unmanned boats is too large, interference is easily caused among the unmanned boats, and even collision accidents can happen.
In 2015, Jimenez et al put forward a zero-space method for double-boat oil spill containment in a document of 'full Automatic Boom hoisting by Unmanned shields: Experimental Study', and a better test effect is obtained. Patent No. CN201710563410.0, a flexible connection type double unmanned boat autonomous cooperation method for oil spill containment, is an improvement on the basis of the research of Jimenez and the like, and applies a fuzzy control idea to behavior fusion based on a null space. In the two methods, the moment of the floating cable acting on the unmanned ship is calculated by directly adopting the product of the pulling force measured by the pulling force sensor and half of the length of the unmanned ship body, and the condition that the included angle formed by the floating cable and the unmanned ship body is not considered, so that the moment is not accurately calculated.
In summary, there is no method for obtaining precise streamer torque by measuring the tension and angle of the streamer with a tension sensor and an angle sensor, so a method for replanning the positions of the expected points of the two boats on line and a method for compensating the error of track tracking based on the calculation principle of the expected speed are needed.
Disclosure of Invention
The invention aims to provide a double-unmanned-boat collaborative oil spilling containment method based on layered guidance and drag force compensation, so that the double-boat trajectory tracking precision is improved, the containment failure caused by overlarge double-boat trajectory tracking error is effectively avoided, and the double-unmanned-boat collaborative dragging of an oil containment boom is realized to carry out containment and oil spilling.
The embodiment of the invention provides a double unmanned ship collaborative oil spilling trapping method based on layered guidance and drag force compensation, which comprises the following steps:
the method comprises the following steps: assuming the formation centers of the two unmanned boats as a virtual pilot, recording the virtual pilot as R, and calculating by adopting a parallel guidance law according to the known positions of the two boats, the position of an oil spill area and the drift velocity of the oil spill to obtain the planned position of R at the next moment;
step two: respectively obtaining the next-time planned positions of the two unmanned boats through calculation according to the real-time surrounding requirement and the next-time planned position of the R in the step one;
step three: according to the current positions of the two unmanned boats and the next time planning positions of the two unmanned boats in the step two, adopting an LOS algorithm to respectively obtain the expected headings of the two unmanned boats through calculation, and simultaneously utilizing a heading control PID algorithm to respectively obtain the control rudder angles of the two unmanned boats through calculation to complete track tracking;
step four: according to expected positions of the two unmanned boats and actual positions of the two unmanned boats, calculating to obtain track tracking errors, and meanwhile, compensating the calculated track tracking errors by adopting a method for replanning the expected positions of the two boats on line and a calculation principle of expected speed;
step five: according to the tension and the angle of the floating cable measured by the tension sensor and the angle sensor, a rudder moment formula is adopted to generate a rudder moment which is equal to the moment of the floating cable in magnitude and opposite to the direction of the moment of the floating cable, and the compensated rudder angles of the two unmanned boats are obtained through calculation;
step six: adding the control rudder angles of the two unmanned boats in the step three and the compensated rudder angles of the two unmanned boats in the step five to respectively obtain expected rudder angles of the two unmanned boats, and driving the two unmanned boats to an oil spilling area in a certain formation to finish oil spilling capture;
the fourth step comprises the following steps:
according to expected positions of the two unmanned boats and actual positions of the two unmanned boats, calculating to obtain track tracking errors, and meanwhile, compensating the calculated track tracking errors by adopting a method for replanning the expected positions of the two boats on line and a calculation principle of expected speed;
the method for replanning the position of the expected point of the double-boat online and the calculation principle of the expected speed are as follows:
dividing the error into lateral errors Δ XijAnd longitudinal error Δ YijThen, there are:
in the above formula, j is 1 or 2, and each j represents the number of the twin boat; (X)qij,Yqij) Denotes the T thiThe expected positions of the double boats at the moment; (X)ij,Yij) Indicating the actual position of the twin boats.
And projecting the errors in the directions perpendicular to the ray L and parallel to the ray L respectively to obtain the errors of the double-boat track tracking under a ship-associated coordinate system as follows:
the method is characterized in that the control of formation and collision avoidance between boats are comprehensively considered, the error is controlled within a reasonable range, the selection of an error threshold value is related to the size and maneuverability of the unmanned boat, a surrounding and capturing task and formation requirements, and the assumed error is satisfied:
compensating the error of the track tracking by a method for replanning the expected point positions of the double boats on line and a calculation principle of expected speed to obtain:
the fifth step comprises the following steps:
according to the tension and the angle of the floating cable measured by the tension sensor and the angle sensor, a rudder moment formula is adopted to generate a rudder moment which is equal to the moment of the floating cable in magnitude and opposite to the direction of the moment of the floating cable, and the compensated rudder angles of the two unmanned boats are obtained through calculation;
the specific process of respectively obtaining the compensated rudder angles of the two unmanned boats through calculation is as follows:
in the actual oil spill containment, because the size of the oil containment boom is large, the hydrodynamic force received in the oil spill containment process is large, so that the floating cable transmits a large bow turning moment to the unmanned boat:
M＝FL sinφ
in the above formula, F represents the pulling force of the streamer acting on the unmanned surface vehicle measured by the pulling force sensor; l represents the longitudinal distance between the tension acting point and the gravity center of the unmanned boat, and is generally half of the length of the straight body of the unmanned boat; phi denotes the angle of the streamer with respect to the longitudinal section in the unmanned ship measured by the angle sensor.
In order to actively compensate the influence of the floating cable moment M on the heading of the unmanned ship and stabilize the heading of the unmanned ship in an expected heading as soon as possible, a rudder angle needs to be actively operated to generate a moment which is equal to the floating cable moment in magnitude and opposite to the floating cable moment in direction. The expression of the rudder moment is as follows:
NR＝(xR+αHχH)FNcosδ
in the above formula, FNThe positive pressure of the rudder is shown, and there are:
αHrepresenting the transverse force correction factor, tRIndicating the rudder force derating fraction, χ, of the rudderHRepresenting the distance, x, between the line of action of the transverse force and the centre of gravity of the vesselRThe longitudinal coordinate of the point of application of the transverse force is indicated. And is provided with
λ is rudder aspect ratio, αRTypically by taking the rudder angle delta.
So long as N is satisfiedRAnd the interference of the floating cable moment on the ship heading can be avoided. Namely:
solving the float cable moment compensation rudder angle:
the sixth step comprises the following steps:
adding the control rudder angles of the two unmanned boats in the step three and the compensated rudder angles of the two unmanned boats in the step five to respectively obtain expected rudder angles of the two unmanned boats, and driving the two unmanned boats to an oil spilling area in a certain formation to finish oil spilling capture;
the expected rudder angles of the two unmanned boats are transmitted to the autopilot device of the unmanned boat, so that the autopilot device operates the corresponding rudder angle, the unmanned boat can not be interfered by the moment of the floating cable, and the track tracking is completed by an LOS method;
the invention has the beneficial effects that:
1. the invention measures the tension and the angle of the floating cable by the tension sensor and the angle sensor, can accurately measure the moment of the floating cable, and provides a feedforward compensation method aiming at the moment of the floating cable on the basis, so that the unmanned ship is not interfered by the moment of the floating cable;
2. the invention provides a method for re-planning the positions of expected points of two boats on line and a calculation principle of expected speed, compensates the error of track tracking, and can effectively avoid the enclosure failure caused by overlarge track tracking error of the two boats.
3. The invention can improve the tracking precision of the tracks of the double boats and realize the work of capturing the spilled oil by the cooperation of the double unmanned boats and the efficient dragging of the oil containment boom.
Drawings
FIG. 1 is a flow chart of a double unmanned boat collaborative oil spill containment method based on layered guidance and drag compensation;
FIG. 2 is a schematic diagram of the present invention for resolving the virtual pilot's next moment position;
FIG. 3 is a schematic diagram of the trajectory tracking of two unmanned boats of the present invention;
FIG. 4 is a schematic view of the motion control of two unmanned boats according to the present invention;
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, the present invention is further described with reference to the accompanying drawings:
the technical scheme of the invention is realized as follows:
as shown in FIG. 2, where R is a virtual pilot, the ray that is directed to the oil spill surrounding the target T is L, the included angle formed by L and the X-axis is σ, and the distance vector between R and T is defined as
Virtual navigator speed is VRThe spilled oil surrounding the target T at a speed V under the influence of wind and wavesTDrift, VRAn included angle formed with the positive direction of L is
VTAn included angle formed with the positive direction of L is
And theta is the heading angle of the robot R. Suppose a virtual collarThe speed of the sailors is a constant value, so the key to the successful capture of the oil spill by the double unmanned boats is to obtain an ideal course angle theta of R.
Then there are:
according to the parallel guidance law, if the virtual pilot meets the target oil spill to achieve the purpose of capturing the oil spill by the double boats, the following requirements are met:
namely:
and has the following components:
let T beiThe position of the virtual pilot at the moment is (X)i,Yi) Then T isi+1The desired position of (a);
as shown in fig. 3, it is known that the virtual pilot is the centers of the formations of two unmanned boats (slave boat No. f1, and slave boat No. f2, respectively), and it is now specified that the formations of the two boats are symmetrical with respect to the ray L, and then the two boats are at Ti+1The expected positions of the moments are respectively:
wherein d represents half of the distance between the two boats, and the size of d is related to the size of the oil spilling area, the size of the oil containment boom and the distance between the virtual pilot and the oil spilling.
Taking the LOS trajectory tracking from the boat number f1 as an example, the expected position at the next moment of f1 is (X) as derived from the foregoingf1,Yf1) From the GPS data, it can be known that the current position of f1 is (X)1,Y1) Then the desired heading for f1 is:
according to the data of the magnetic compass, the current heading of f1 can be known
Order to
And the difference value between the expected heading and the actual heading is represented, the control rudder angle can be solved by PID control calculation:
during the trapping, the distance between the two boats is too large, so that the hydrodynamic force borne by the oil containment boom is greatly increased, the heading is more difficult to control, and the oil spill is easy to float out of the control range of the oil containment boom, so that the oil spill trapping fails. And the distance between the two boats is too small, so that the trapping efficiency is reduced, and even the two boats are collided. In the invention, a method for replanning the positions of the expected points of the double boats on line is defined, and the calculation principle of the expected speed is provided, so that the aim of compensating the error of track tracking is fulfilled.
To facilitate compensation for errors in trajectory tracking, the errors are divided into lateral errors Δ XijAnd longitudinal error Δ YijThen, there are:
wherein j is 1 and 2, which respectively represent the number of the double boats; (X)qij,Yqij) Denotes the T thiThe expected positions of the double boats at the moment; (X)ij,Yij) Indicating the actual position of the twin boats.
And projecting the errors in the directions perpendicular to the ray L and parallel to the ray L respectively, so that the errors of the double-boat track tracking under a ship-associated coordinate system are as follows:
the method is characterized in that the control of formation and collision avoidance between boats are comprehensively considered, the error is controlled within a reasonable range, the selection of an error threshold value is related to the size and maneuverability of the unmanned boat, a surrounding and capturing task and formation requirements, and the assumed error is satisfied:
on the basis of the analysis, the invention provides a method for replanning the positions of the expected points of the double boats on line and a calculation principle of expected speed, and compensates the error of track tracking:
in the actual oil spill containment, because the size of the oil containment boom is large, in the oil spill containment process, the hydrodynamic force is large, so that the floating cable transmits a large bow turning moment to the unmanned boat:
M＝FL sinφ (17)
wherein, F represents the pulling force of the floating cable on the unmanned ship measured by the pulling force sensor; l represents the longitudinal distance between the tension acting point and the gravity center of the unmanned boat, and is generally half of the length of the straight body of the unmanned boat; phi represents the included angle between the floating cable and the longitudinal section in the unmanned ship and is measured by an angle sensor.
In order to actively compensate the influence of the floating cable moment M on the heading of the unmanned ship and stabilize the heading of the unmanned ship in an expected heading as soon as possible, a rudder angle needs to be actively operated to generate a moment which is equal to the floating cable moment in magnitude and opposite to the floating cable moment in direction. The expression of the rudder moment is as follows:
NR＝(xR+αHχH)FNcosδ (18)
in the formula: fNThe positive pressure of the rudder is shown, and there are:
αHrepresenting the transverse force correction factor, tRIndicating the rudder force derating fraction, χ, of the rudderHRepresenting the distance, x, between the line of action of the transverse force and the centre of gravity of the vesselRThe longitudinal coordinate of the point of application of the transverse force is indicated. And is provided with
λ is rudder aspect ratio, αRTypically by taking the rudder angle delta.
As long as N is satisfiedRAnd the interference of the floating cable moment on the ship heading can be avoided. Namely:
the moment compensation rudder angle of the floating cable can be obtained:
the final calculated expected rudder angle of the unmanned ship is:
δ1＝δc1+Δδ1 (22)
desired rudder angle delta1The automatic rudder device of the slave boat I is operated at a corresponding rudder angle, the slave boat I can not be interfered by the moment of the floating cable, and the track tracking is completed through an LOS method. And the double boats complete trajectory tracking, namely, the double boats move to a desired position in a desired formation, and the tasks of oil spill containment are cooperatively completed.
Claims (3)
1. The double unmanned ship collaborative oil spilling trapping method based on layered guidance and drag force compensation is characterized by comprising the following steps:
the method comprises the following steps: assuming the formation centers of the two unmanned boats as a virtual pilot, recording the virtual pilot as R, and calculating by adopting a parallel guidance law according to the known positions of the two boats, the position of an oil spill area and the drift velocity of the oil spill to obtain the planned position of R at the next moment;
step two: respectively obtaining the next-time planned positions of the two unmanned boats through calculation according to the real-time surrounding requirement and the next-time planned position of the R in the step one;
step three: according to the current positions of the two unmanned boats and the next time planning positions of the two unmanned boats in the step two, adopting an LOS algorithm to respectively obtain the expected headings of the two unmanned boats through calculation, and simultaneously utilizing a heading control PID algorithm to respectively obtain the control rudder angles of the two unmanned boats through calculation to complete track tracking;
step four: according to expected positions of the two unmanned boats and actual positions of the two unmanned boats, calculating to obtain track tracking errors, and meanwhile, compensating the calculated track tracking errors by adopting a method for replanning the expected positions of the two boats on line and a calculation principle of expected speed;
step five: according to the tension and the angle of the floating cable measured by the tension sensor and the angle sensor, a rudder moment formula is adopted to generate a rudder moment which is equal to the moment of the floating cable in magnitude and opposite to the direction of the moment of the floating cable, and the compensated rudder angles of the two unmanned boats are obtained through calculation;
step six: adding the control rudder angles of the two unmanned boats in the step three and the compensation rudder angles of the two unmanned boats in the step five to respectively obtain expected rudder angles of the two unmanned boats, and driving the two unmanned boats to an oil spilling area to finish oil spilling capture;
the fifth step comprises the following steps:
according to the tension and the angle of the floating cable measured by the tension sensor and the angle sensor, a rudder moment formula is adopted to generate a rudder moment which is equal to the moment of the floating cable in magnitude and opposite to the direction of the moment of the floating cable, and the compensated rudder angles of the two unmanned boats are obtained through calculation;
the specific process of respectively obtaining the compensated rudder angles of the two unmanned boats through calculation is as follows:
in the actual oil spill containment, because the size of the oil containment boom is large, the hydrodynamic force received in the oil spill containment process is large, so that the floating cable transmits a large bow turning moment to the unmanned boat:
M＝FL sinφ
in the above formula, F represents the pulling force of the streamer acting on the unmanned surface vehicle measured by the pulling force sensor; l represents the longitudinal distance between the tension acting point and the gravity center of the unmanned boat, and is generally half of the length of the straight body of the unmanned boat; phi represents the included angle between the floating cable measured by the angle sensor and the longitudinal section in the unmanned ship;
in order to actively compensate the influence of the floating cable moment M on the heading of the unmanned boat and stabilize the heading of the unmanned boat in an expected heading as soon as possible, a rudder angle needs to be actively operated to generate a moment which is equal to the floating cable moment in magnitude and opposite to the floating cable moment in direction, and the expression of the rudder moment is as follows:
NR＝(xR+αHχH)FNcosδ
in the above formula, FNThe positive pressure of the rudder is shown, and there are:
rho is water density; a. theRThe rudder area; u shapeRSame VRThe virtual navigator speed;
αHrepresenting the transverse force correction factor,%HRepresenting the distance, x, between the line of action of the transverse force and the centre of gravity of the vesselRLongitudinal coordinates representing points of action of transverse forces, and
λ is rudder aspect ratio, αRTaking a rudder angle delta generally;
so long as N is satisfiedRThe interference of the floating cable moment on the ship heading can be avoided, namely:
solving the float cable moment compensation rudder angle:
2. the double unmanned ship collaborative oil spill containment method based on layered guidance and drag force compensation, as recited in claim 1, wherein the fourth step comprises:
according to expected positions of the two unmanned boats and actual positions of the two unmanned boats, calculating to obtain track tracking errors, and meanwhile, compensating the calculated track tracking errors by adopting a method for replanning the expected positions of the two boats on line and a calculation principle of expected speed;
the method for replanning the position of the expected point of the double-boat online and the calculation principle of the expected speed are as follows:
dividing the error into lateral errors Δ XijAnd longitudinal error Δ YijThen, there are:
in the above formula, j is 1 or 2, and each j represents the number of the twin boat; (X)qij,Yqij) Denotes the T thiThe expected positions of the double boats at the moment; (X)ij,Yij) Representing the actual positions of the twin boats;
and projecting the errors in the directions perpendicular to the ray L and parallel to the ray L respectively to obtain the errors of the double-boat track tracking under a ship-associated coordinate system as follows:
the method is characterized in that the control of formation and collision avoidance between boats are comprehensively considered, the error is controlled within a reasonable range, the selection of an error threshold value is related to the size and maneuverability of the unmanned boat, a surrounding and capturing task and formation requirements, and the assumed error is satisfied:
compensating the error of the track tracking by a method for replanning the expected point positions of the double boats on line and a calculation principle of expected speed to obtain:
theta is an included angle between a ray pointing to the expected position of the unmanned ship from the actual position of the unmanned ship and an X axis; epsilonx、εYRespectively representing error threshold values in the direction of X, Y, wherein the selection of the error threshold values is related to the size and maneuverability of the unmanned boat, the trapping task and the formation requirement; d represents half of the pitch of the twin boats; sigma is an included angle formed by the X axis and the ray of the virtual navigator pointing to the target; vRIs the virtual navigator speed.
3. The double unmanned ship collaborative oil spilling trapping method based on layered guidance and drag force compensation as claimed in claim 1, wherein: the sixth step comprises the following steps:
adding the control rudder angles of the two unmanned boats in the step three and the compensation rudder angles of the two unmanned boats in the step five to respectively obtain expected rudder angles of the two unmanned boats, and driving the two unmanned boats to an oil spilling area to finish oil spilling capture;
the expected rudder angles of the two unmanned boats are transmitted to the autopilot device of the unmanned boat, so that the autopilot device operates the corresponding rudder angle, the unmanned boat can not be interfered by the moment of the floating cable, and the track tracking is completed by the LOS method.
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| CN111158380B (en) * | 2020-01-19 | 2023-08-04 | 中电科（宁波）海洋电子研究院有限公司 | Water surface unmanned ship obstacle avoidance method with towing line array |
| CN113885490B (en) * | 2021-08-02 | 2023-06-09 | 哈尔滨工程大学 | Double unmanned ship formation control method based on flexible physical connection |
| CN113533054B (en) * | 2021-09-17 | 2021-12-03 | 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 |
| CN114815854B (en) * | 2022-06-27 | 2022-09-27 | 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 |
| CN115421490B (en) * | 2022-09-02 | 2023-07-14 | 武汉理工大学 | Floating rope connected double unmanned boats collaborative towing control method and device |
| CN115616920B (en) * | 2022-11-17 | 2024-03-29 | 哈尔滨工程大学三亚南海创新发展基地 | Active coupling interference suppression method in multi-unmanned-ship system |
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