CN109765907A - A kind of naval vessel PID model-free adaption Heading control algorithm - Google Patents
A kind of naval vessel PID model-free adaption Heading control algorithm Download PDFInfo
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Abstract
The invention belongs to Ship Motion control fields, and in particular to a kind of naval vessel PID model-free adaption Heading control algorithm.Including adaptive proportional and adaptive differential term to be introduced into MFA control algorithm, a kind of naval vessel PID-MFAC algorithm is proposed；According to naval vessel desired course y*(k) it with the current course y (k) in naval vessel, calculates course deviation e (k), e (k)=y*(k)-y(k)；When the absolute value of e (k) | e (k) | less than the threshold value e of the course state deviation of setting1, then it is assumed that the actual heading on naval vessel converges to desired course and jumps out circulation and otherwise performs the next step；PID-MFAC algorithm calculates expectation input u (k) of heading system according to e (k)；Operating mechanism receives and executes heading system input instruction u (k)；K=k+1 is enabled, updates the current course y (k) in naval vessel, and go to step 2.The present invention solves the problems, such as that MFAC algorithm is applied directly in naval vessel Heading control to exist and serious overshoot, reforming phenomena even unstability easily occurs, the introducing of adaptive proportional and adaptive differential term, improves the response speed of controller and the dynamic response performance of system.
Description
Technical field
The invention belongs to Ship Motion control fields, and in particular to a kind of naval vessel PID model-free adaption Heading control
Algorithm.
Background technique
Accurately control naval vessel course can just be such that warship safety effectively draws thereby executing various tasks, such as sea chart, water
Text measurement etc..At present in engineer application, the control in naval vessel course, substantially using pid control algorithm, but naval vessel is easy
It is perturbed by model, environmental disturbances power etc. influences, and the PID controller for possessing one group of preset parameter is caused to be difficult to maintain consistent control
Effect processed, needing to readjust parameter just can be such that system stablizes.And it is based on the controller of " model guiding " layout strategy exploitation, sternly
Important place depends on system mathematic model, very difficult due to obtaining accurate mathematical model, and there are Unmarried pregnancy, models to perturb
Equal influences lead to the adaptive poor of system, it is difficult to guarantee system robustness energy, to be difficult to be applied in engineering.
In document " Heading MFA control for unmanned surface vehicle with angular
Author proposes that a kind of cascade control method indirectly controls nobody in such a way that angular speed guides in velocity guidance "
The course of ship.But controller architecture is complicated, and the adjusting of controller parameter multi-parameter is difficult.The applying date on 09 5th, 2018, application number
201811031878.6, denomination of invention " a kind of tight format non-model control method of naval vessel integral-separated PI type " will be by that will compare
Example control is combined with tight format model-free adaption method to be realized to the purpose of naval vessel Heading control, but ratio control is without certainly
Adaptability.2018 applying date February 02nd, application number 201810106120.8, denomination of invention " a kind of output redefinition formula without
Model adaptation course heading control method and system ", by by system Output Redefinition be naval vessel course and angular speed it is linear and
Form realizes the purpose to naval vessel Heading control.But in practice, the differences in angle information on naval vessel is not easy to obtain, and because of external interference
It is inaccurate in the presence of causing angular velocity information to measure, therefore this method is not easy to Project Realization.
Summary of the invention
The purpose of the present invention is to provide a kind of naval vessel PID model-free adaption Heading control algorithms, make naval vessel course
Can stable convergence to desired course.
A kind of naval vessel PID model-free adaption Heading control algorithm, comprising the following steps:
Adaptive proportional and adaptive differential term are introduced MFA control (model free by step 1
Adaptive control, MFAC), propose a kind of naval vessel PID-MFAC algorithm；
Step 2 calculates course deviation e (k) wherein e with the current course y (k) in naval vessel according to naval vessel desired course y* (k)
(k)=y*(k)-y(k)；
Step 3, the absolute value and e for comparing e (k)1Size, when the absolute value of e (k) | e (k) | less than the course shape of setting
The threshold value e of state deviation1, then it is assumed that the actual heading on naval vessel converges to desired course and jumps out circulation, otherwise executes PID_MFAC
Algorithm, PID-MFAC algorithm calculate heading system expectation input quantity u (k)；
Step 4, operating mechanism receive and execute heading system input instruction u (k)；
Step 5 enables k=k+1, updates the current course y (k) in course naval vessel, and go to step 2.
A kind of naval vessel PID model-free adaption Heading control algorithm, the form of adaptive proportional is in step 1Adaptively the form of differential term is
A kind of naval vessel PID model-free adaption Heading control algorithm, PID_MFAC algorithm in step 2 are as follows:
Wherein, η ∈ (0,1], ρ ∈ (0,1], α and β are step factor, and μ > 0, λ > 0 are weight coefficient, Δ e (k)=e
(k)-e (k-1), e (k), e (k-1) are respectively kth, and the course deviation in kth -1 control period, u (k) is k-th of control period
The output of PID_MFAC algorithm is improved, φ (k) is pseudo- partial derivative,For pseudo- Partial derivative estimation value, as | Δ u (k-1) |≤ε orOrWhen, it enables
A kind of naval vessel PID model-free adaption Heading control algorithm, step factor β, α become control algolithm
Following form:
A kind of naval vessel PID model-free adaption Heading control algorithm, e in step 31For lesser normal amount, sheet
E is taken in invention1=2.
The beneficial effects of the present invention are:
The present invention is based on model-free adaption theories to introduce model-free certainly for adaptive proportional and adaptive differential term
Suitable solution (model free adaptive control, MFAC), proposes a kind of naval vessel PID-MFAC algorithm, solves
MFAC algorithm, which is applied directly in naval vessel Heading control, has easily occurring serious overshoot, reforming phenomena even unstability.From
The introducing for adapting to proportional improves the response speed of controller, and the introducing of adaptive differential term is so that control algolithm navigates to naval vessel
Response to system is provided with the effect of prediction, improves the dynamic response performance of system.
Detailed description of the invention
Fig. 1 is heading system entire block diagram of the invention；
Fig. 2 is flow chart of the invention.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings:
It as shown in Fig. 1, is heading system entire block diagram of the invention；Desired course y (k) is provided first*Order, root
The input of course deviation e (k) as PID-MFAC algorithm, PID-MFAC algorithm are calculated according to current time naval vessel actual heading y (k)
Calculate heading system expectation input quantity u (k).Operating mechanism executes expectation and inputs instruction u (k), to change the reality on naval vessel
Course enables k=k+1 update course deviation e (k) and the input as PID-MFAC algorithm subsequent time.The above process is recycled, from
And the actual heading on naval vessel is made to converge to desired course.
It as shown in Fig. 2, is system flow chart of the invention.The specific implementation steps are as follows:
Adaptive proportional and adaptive differential term are introduced MFA control (model free by step 1
Adaptive control, MFAC), propose a kind of naval vessel PID-MFAC algorithm.Adaptively the form of proportional isAdaptively the form of differential term is
Step 2 calculates course deviation e (k) wherein e with the current course y (k) in naval vessel according to naval vessel desired course y* (k)
(k)=y*(k)-y(k)；
Step 3, the absolute value and e for comparing e (k)1Size, when the absolute value of e (k) | e (k) | less than the course shape of setting
The threshold value e of state deviation1, then it is assumed that the actual heading on naval vessel converges to desired course and jumps out circulation, otherwise executes PID_MFAC
Algorithm, PID-MFAC algorithm calculate heading system expectation input quantity u (k)；
Step 4, operating mechanism receive and execute heading system input instruction u (k)；
Step 5 enables k=k+1, updates the current course y (k) in course naval vessel, and go to step 2.
A kind of naval vessel PID model-free adaption Heading control algorithm, the form of adaptive proportional is in step 1Adaptively the form of differential term is
A kind of naval vessel PID model-free adaption Heading control algorithm, PID_MFAC algorithm in step 2 are as follows:
Wherein, η ∈ (0,1], ρ ∈ (0,1], α and β are step factor, and μ > 0, λ > 0 are weight coefficient, Δ e (k)=e
(k)-e (k-1), e (k), e (k-1) are respectively kth, and the course deviation in kth -1 control period, u (k) is k-th of control period
The output of PID_MFAC algorithm is improved, φ (k) is pseudo- partial derivative,For pseudo- Partial derivative estimation value, as | Δ u (k-1) |≤ε orOrWhen, it enables
A kind of naval vessel PID model-free adaption Heading control algorithm, step factor β, α become control algolithm
Following form:
Within all methods for introducing step factor in this form all belong to the protection scope of this patent.
A kind of naval vessel PID model-free adaption Heading control algorithm, e in step 31For lesser normal amount, sheet
E is taken in invention1=2.
Claims (5)
1. a kind of naval vessel PID model-free adaption Heading control algorithm, which comprises the following steps:
Adaptive proportional and adaptive differential term are introduced MFA control (model free by step 1
Adaptive control, MFAC), propose a kind of naval vessel PID-MFAC algorithm；
Step 2, according to naval vessel desired course y* (k), and the current course y (k) in naval vessel, calculate course deviation e (k) wherein e (k)=
y*(k)-y(k)；
Step 3, the absolute value and e for comparing e (k)1Size, when the absolute value of e (k) | e (k) | it is inclined less than the course state of setting
The threshold value e of difference1, then it is assumed that the actual heading on naval vessel converges to desired course and jumps out circulation, otherwise executes PID_MFAC algorithm,
PID-MFAC algorithm calculates heading system expectation input quantity u (k)；
Step 4, operating mechanism receive and execute heading system input instruction u (k)；
Step 5 enables k=k+1, updates the current course y (k) in course naval vessel, and go to step 2.
2. a kind of naval vessel PID model-free adaption Heading control algorithm according to claim 1, which is characterized in that step 1
Described in the form of adaptive proportional beAdaptively the form of differential term is
3. a kind of naval vessel PID model-free adaption Heading control algorithm according to claim 1, which is characterized in that step 2
Described in PID_MFAC algorithm are as follows:
Wherein, η ∈ (0,1], ρ ∈ (0,1], α and β are step factor, and μ > 0, λ > 0 are weight coefficient, Δ e (k)=e (k)-e
(k-1), e (k), e (k-1) are respectively kth, and the course deviation in kth -1 control period, u (k) is to improve in k-th of control period
The output of PID_MFAC algorithm, φ (k) are pseudo- partial derivative,For pseudo- Partial derivative estimation value, as | Δ u (k-1) |≤ε orOrWhen, it enables
4. according to claim 1 or a kind of 3 naval vessel PID model-free adaption Heading control algorithms, which is characterized in that institute
Step factor β is stated, α makes control algolithm become following form.
5. a kind of naval vessel PID model-free adaption Heading control algorithm according to claim 1, which is characterized in that step 3
Middle e1For small normal amount, e is taken in the present invention1=2.
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| CN113110519A (en) * | 2021-05-26 | 2021-07-13 | 哈尔滨工程大学 | Non-incremental model-free adaptive heading control method for ships |
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