CN109782773B - Parallel estimation method for parameter vectors of steering response equation - Google Patents
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Abstract
The invention provides a parallel estimation method for a parameter vector of a manipulation response equation, belongs to the technical field of parameter estimation of a manipulability model, and is suitable for ships or wave gliders. The method first sets parameter vectorP and the state vector Y, and satisfy PTY is r, and r is the angular speed of the bow; thereafter setting a criterion function
For the estimation of the current time P,
the estimated value of the last moment P is, mu is a weight coefficient; then, the criterion function J is related to
Minimum value is calculated, step factor lambda is added, and recursive correction is carried out
λ is a step factor; and finally, continuously repeating the previous step until an estimation process end instruction is received. The parallel estimation method for the parameter vector of the manipulation response equation, which is suitable for the ships and the wave gliders, can correct the parameter vector in real time in the sailing process of the ships and obtain the manipulative parameters of the ships and the wave gliders which change in real time.
Description
Technical Field
The invention belongs to the technical field of parameter estimation of an operational model, and particularly relates to a parallel estimation method of an operational response equation parameter vector applied to a course process of a ship or a wave glider.
Background
When researching the problem of controlling the heading of a ship, the heading motion is the most concerned degree of freedom, and other motions such as rolling, pitching and the like are not main influence factors. Scholars in the research field use rudder angles as system input and bow response as system output to establish a ship steering response equation, also called KT equation, so that great convenience is provided for the research of ship heading control motion, and the influence of other factors such as environmental interference, coupling between respective degree of freedom motions and the like on ship steering response is reflected as the change of parameters in the ship steering response equation. Although parameters in the ship maneuvering response equation can be theoretically calculated through physical parameters (such as mass and rotational inertia) of a ship body, hydrodynamic coefficients and the like, in practical application, the parameters are often obtained by identifying through real test data.
The methods need to firstly carry out ship maneuverability tests, collect a large amount of test data, and estimate a group of maneuverability parameters in an off-line processing mode. However, the maneuverability parameters of the ship are different under different working conditions, such as different navigational speeds, different draughts, different environmental disturbances, and the like, so that the operation of obtaining the maneuverability parameters under various working conditions is enormous.
The invention provides a parallel estimation method for a parameter vector of a manipulation response equation, which is suitable for ships and wave gliders, wherein a plurality of parameters needing to be estimated in the response equation of the ships or the wave gliders are taken as the parameter vector, the parameter vector is corrected in real time in the sailing process, a plurality of manipulative parameters are estimated in parallel, the manipulative parameters changing in real time are obtained, and a manipulative model corrected in real time can be widely applied to the research of a filtering method and a control algorithm.
Disclosure of Invention
The invention aims to provide a parallel estimation method for a parameter vector of a manipulation response equation, which is suitable for a ship or a wave glider, corrects the parameter vector in real time in the sailing process, and obtains the real-time changing maneuverability parameter of the ship or the wave glider.
The purpose of the invention is realized as follows:
the invention provides a parallel estimation method for a parameter vector of a manipulation response equation, which mainly comprises the following steps:
(1) setting a parameter vector P and a state vector Y; wherein, the parameter vector P is a column vector including all parameters to be estimated in the manipulation response equation, and the state vector Y is a column vector satisfying PTY ═ r, where, PTIs the transposition of the parameter vector P, and r is the heading angular velocity;
(2) setting criteria function
Wherein the content of the first and second substances,
for the estimation of the parameter vector P at the current time,
is the estimated value of the parameter vector P at the last moment, mu is a weight coefficient and mu is more than 0;
(3) for criterion function J about
Minimum value is calculated, step factor lambda is added, and recursive correction is carried out
Wherein λ is a step factor and λ > 0;
(4) and (4) returning to the step (3) until an estimation process end instruction is received.
Further, the steering response equation is a first order equation.
Preferably, the steering response equation is a first-order linear KT equation
Wherein T and K are maneuverability parameters to be estimated, r is the turning bow angular velocity,
for angular yaw acceleration and delta for rudder angle, the parameter vector P is ═ T, K]TState vector of
Preferably, the steering response equation is a first-order nonlinear KT equation
Where T, K and alpha are the maneuverability parameters to be estimated, r is the heading angular velocity,
for angular yaw acceleration and delta for rudder angle, the parameter vector P is ═ T, K, alpha]TState vector of
Furthermore, the order of the elements in the parameter vector P and the state vector Y can be exchanged according to the same rule.
Preferably, the parameter vector parallel estimation method is suitable for ship steering response equations.
Preferably, the parameter vector parallel estimation method is suitable for a wave glider steering response equation.
Preferably, the wave glider steering response equation parameter vector parallel estimation method comprises a floating body steering response equation parameter vector parallel estimation method and a submerged body steering response equation parameter vector parallel estimation method, and the two methods run in parallel.
Preferably, the floating body equivalent rudder angle delta is used in the floating body steering response equationFSatisfies the relation deltaF＝ψ0×sin(ψG-ψF) Wherein ψ0At a fixed angle, #GIs the heading psi of a submerged body in the wave gliderFIs the heading of a floating body in the wave glider.
Preferably, the first and second liquid crystal materials are,the equivalent rudder angle delta of the submerged body is used in the submerged body manipulation response equationGSatisfies the relation deltaG＝δrWherein, deltarThe rudder angle of the rudder on the submerged body is adopted.
The invention has the beneficial effects that: the invention provides a parallel estimation method for a parameter vector of a manipulation response equation, which is suitable for ships and wave gliders, integrates all manipulative parameters needing to be estimated in the manipulation response equation of the ships or the wave gliders into one parameter vector, corrects the parameter vector in real time in the sailing process of the ships or the wave gliders, and corrects all manipulative parameters needing to be estimated simultaneously, so that the parameter estimation process has the beneficial effects of real-time convenience and quickness; the real-time corrected ship or wave glider maneuverability model obtained by utilizing the method to estimate the parameters can be widely applied to the research of self-adaptive filtering and control algorithms.
Drawings
FIG. 1 is a flow chart of a parallel estimation method of a steering response equation parameter vector applied to a ship in the present invention;
FIG. 2 is a schematic view of a wave glider according to the present invention;
FIG. 3 is a flow chart of a parallel estimation method of a steering response equation parameter vector applied to a wave glider in the present invention;
FIG. 4 is an angle schematic of the wave glider of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Example 1
With reference to fig. 1, the invention provides a parallel estimation method of a parameter vector of a steering response equation suitable for ships, which comprises the following steps:
setting a parameter vector P and a state vector Y according to a ship manipulation response equation; the parameter vector P is a column vector and contains all parameters needing to be estimated of the ship steering response equation; the state vector Y is a column vector, so that the ship steering response equation is equivalent to PTY ═ r, where r is the ship's turning angular velocity;
step (2) setting a criterion function, wherein the criterion function comprises: actual ship bow-turning angular velocity r measured by the sensor, the transpose of the parameter vector and the ship bow-turning angular velocity P estimated by multiplying the state vectorTSquare of difference of Y, estimated value of parameter vector at current time
And the estimated value of the parameter vector of the last time
The square of the module of the difference between the actual ship steering angular velocity measured by the sensor and the square of the difference between the actual ship steering angular velocity and the parameter vector multiplied by the state vector, and the relative weight of the square of the module of the difference between the estimated value of the parameter vector at the current moment and the estimated value of the parameter vector at the previous moment are all adjusted by a weight coefficient mu, wherein the weight coefficient mu is more than 0; i.e. the criterion function
The estimation value of the criterion function J about the parameter vector at the current moment in the step (3)
Minimum value is calculated, step factor lambda is added, and estimation value of parameter vector at current moment is corrected in a recursion mode
The step factor λ is greater than 0;
and (4) returning to the step (3) until an estimation process end instruction is received.
The ship steering response equation parameter vector parallel estimation method is characterized in that the ship steering response equation is a first-order equation.
The parallel estimation method for the parameter vector of the ship steering response equationWherein the first order equation is a first order linear KT equation
Wherein T and K are maneuverability parameters to be estimated, r is ship turning angular velocity,
if the angular acceleration of the ship bow is changed and delta is the rudder angle, the parameter vector P is [ T, K ═]TState vector of
The ship steering response equation parameter vector parallel estimation method is characterized in that the first-order equation is a first-order nonlinear KT equation
Wherein T, K and alpha are maneuverability parameters to be estimated, r is the ship turning angular velocity,
if the angular acceleration of the ship bow is changed and delta is the rudder angle, the parameter vector P is ═ T, K, alpha]TState vector of
The ship steering response equation parameter vector parallel estimation method is characterized in that the order of elements in the parameter vector P and the state vector Y can be exchanged according to the same rule. That is, the first order equation is a first order linear KT equation
Then the parameter vector P ═ T, K]TState vector of
Or parameter vector P ═ K, T]TState vector of
The first order equation is a first order nonlinear KT equation
Then the parameter vector P ═ T, K, α]TState vector of
Or parameter vector P ═ T, α, K]TState vector of
Or parameter vector P ═ K, T, α]TState vector of
Or parameter vector P ═ K, α, T]TState vector of
Or parameter vector P ═ α, T, K]TState vector of
Or parameter vector P ═ α, K, T]TState vector of
Combinations of the above are also within the scope of the invention.
Example 2
The same as in example 1, except that:
the parallel estimation method for the parameter vector of the steering response equation is also suitable for a wave glider. Fig. 2 is a structural composition of the wave glider. The wave glider is composed of a floating body 1 floating on the water surface, a submerged body 2 positioned under the water, and a flexible chain 3 connecting the floating body 1 and the submerged body 2. The rotating rudder 4 arranged at the tail part of the submerged body provides the bow turning moment of the submerged body 2, and the pulling force of the flexible chain 3 drives the floating body 1 to turn.
Referring to fig. 3, the invention provides a control device suitable for a wave gliderThe parallel estimation method of the response equation parameter vector comprises a floating body manipulation response equation parameter vector parallel estimation method and a submerged body manipulation response equation parameter vector parallel estimation method, wherein the two methods run in parallel; the parallel estimation method of the floating body manipulation response equation parameter vector is characterized in that the parallel estimation method of the ship manipulation response equation parameter vector is the parallel estimation method of the ship manipulation response equation parameter vector; making the equivalent rudder angle delta of the floating body in the calculation processFIs the product of the sine of the heading difference between the submerged body and the floating body and a fixed angle, i.e. deltaF＝ψ0×sin(ψG-ψF)，ψGAnd psiFRespectively, heading, psi, of submerged and floating bodies of the wave glider0At a fixed angle, for example, 90 degrees may be desirable; the wave glider is characterized in that the floating body of the wave glider is not provided with an independent rotating rudder, the heading movement of the floating body is derived from the tension of a flexible chain, the moment arm of the flexible chain tension for the heading of the floating body is approximately in a linear relation with the sine value of the heading difference between the submerged body and the floating body, and the product of the sine value of the heading difference between the submerged body and the floating body and a fixed angle is further used as the equivalent rudder angle of the floating body, so that the equivalent rudder angle of the floating body is defined to be closer to the rudder angle of a traditional ship in dimension and numerical value. The step of the parallel estimation method of the parameter vector of the submerged body maneuvering response equation is the step of the parallel estimation method of the parameter vector of the ship maneuvering response equation; making equivalent rudder angle delta of submerged body in calculation processGRudder angle delta for submerged rudderrI.e. deltaG＝δrThis is because the point of attachment of the flex link to the submerged body is close to the centre of the submerged body, so that the effect of the flex link tension on the yawing motion of the submerged body is neglected. Wave glider floating body heading angle psiFSubmerged body heading angle psiGRudder angle delta of rudder mounted on submerged bodyrAs shown in fig. 4.
In the above step of the method for estimating the parameter vector of the steering response equation applicable to the ship or the wave glider in parallel, each step-size factor and each weight coefficient are set by a person skilled in the art according to experience; angular velocity and angular acceleration of ships, heading turning angular velocity and heading turning angular acceleration of floating bodies and submerged bodies of the wave gliders and the like in the parameter estimation algorithm are directly measured by sensors such as compasses, inertial navigation and the like arranged on the floating bodies and the submerged bodies of the ships and the wave gliders, or are indirectly obtained through data processing on the basis of directly measured data, for example, heading angles are directly measured by the sensors, and heading turning angular velocity and heading turning angular acceleration are obtained through numerical differentiation; steering is carried out according to a steering rule set by people in the sailing process of the ship or the wave glider, so that the steering angle is known for the ship; for wave gliders, the rudder angle of the rotating rudder mounted to the submerged body is known; the equivalent rudder angle of the floating body and the submerged body of the wave glider is calculated by the known rudder angle of the rotating rudder of the submerged body and the heading angle of the floating body and the submerged body measured by the heading sensor.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A parallel estimation method for a parameter vector of a steering response equation is characterized by mainly comprising the following steps:
(1) setting a parameter vector P and a state vector Y; wherein, the parameter vector P is a column vector including all parameters to be estimated in the manipulation response equation, and the state vector Y is a column vector satisfying PTY ═ r, where, PTIs the transposition of the parameter vector P, and r is the heading angular velocity;
(2) setting criteria function
Wherein the content of the first and second substances,
for the estimation of the parameter vector P at the current time,
is as followsAn estimate of the time parameter vector P, mu being a weighting factor and mu>0；
(3) For criterion function J about
Minimum value is calculated, step factor lambda is added, and recursive correction is carried out
Wherein λ is a step factor and λ>0；
(4) Returning to the step (3) until an estimation process end instruction is received;
the manipulation response equation is a first-order linear KT equation
Wherein T and K are maneuverability parameters to be estimated, r is the turning bow angular velocity,
for angular yaw acceleration and delta for rudder angle, the parameter vector P is ═ T, K]TState vector of
The manipulation response equation is a first-order nonlinear KT equation
Where T, K and alpha are the maneuverability parameters to be estimated, r is the heading angular velocity,
for angular yaw acceleration and delta for rudder angle, the parameter vector P is ═ T, K, alpha]TState vector of
2. The parallel estimation method for the parameter vector of the steering response equation according to claim 1, wherein: the order of the elements in the parameter vector P and the state vector Y can be exchanged according to the same rule.
3. The parallel estimation method for the parameter vector of the steering response equation according to claim 1, wherein: the parameter vector parallel estimation method is suitable for ship steering response equations.
4. The parallel estimation method for the parameter vector of the steering response equation according to claim 1, wherein: the parameter vector parallel estimation method is suitable for a wave glider manipulation response equation.
5. The parallel estimation method for the parameter vector of the steering response equation according to claim 4, wherein: the wave glider manipulation response equation parameter vector parallel estimation method comprises a floating body manipulation response equation parameter vector parallel estimation method and a submerged body manipulation response equation parameter vector parallel estimation method, wherein the two methods run in parallel.
6. The parallel estimation method for the parameter vector of the steering response equation according to claim 5, wherein: the floating body equivalent rudder angle delta is used in the floating body manipulation response equationFSatisfies the relation deltaF＝ψ0×sin(ψG-ψF) Wherein ψ0At a fixed angle, #GIs the heading psi of a submerged body in the wave gliderFIs the heading of a floating body in the wave glider.
7. The parallel estimation method for the parameter vector of the steering response equation according to claim 5, wherein: the equivalent rudder angle delta of the submerged body is used in the submerged body manipulation response equationGSatisfies the relation deltaG＝δrWherein, deltarThe rudder angle of the rudder on the submerged body is adopted.
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