CN109814375A - A kind of quick setting method of autonomous underwater vehicle Heading control parameter - Google Patents
A kind of quick setting method of autonomous underwater vehicle Heading control parameter Download PDFInfo
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Abstract
The present invention provides a kind of quick setting method of autonomous underwater vehicle Heading control parameter, comprising the following steps: construction autonomous underwater vehicle Heading control parameters fast tuning system, including autonomous underwater vehicle, earth station, ground data radio station and remote controler；Earth station sends measuring and control data to autonomous underwater vehicle by ground data radio station；Remote-control data is sent to autonomous underwater vehicle by remote controler；Autonomous underwater vehicle navigates by water in water under the control of measuring and control data and remote-control data, and ground station feedback telemetry data；Earth station optimizes adjusting control parameter according to the telemetry, using setting principle.The present invention proposes a kind of quick setting method of autonomous underwater vehicle Heading control parameter, this method carries out parameter tuning with control system highly integrated, the transmitting-receiving of setting parameter and director data is carried out by radio station, speed of a ship or plane control is carried out by remote control, it avoids repetition modification control software and test repeatedly prepares, significantly improve the efficiency of parameter tuning.
Description
Technical field
The invention belongs to unmanned vehicles technical fields, and in particular to a kind of autonomous underwater vehicle Heading control parameter it is quick
Setting method.
Background technique
Autonomous underwater vehicle as underwater intelligent disguise it is standby, can in severe marine environment autonomous navigation, and carry it is more
Kind mission payload, purposes cover the multiple fields such as oceanographic survey, sea floor exploration, marine environment scouting and underwater operation, become sea
The important force of foreign engineer equipment has wide application value, is the research hotspot of current marine equipment.
The most important feature of autonomous underwater vehicle be can according to preset course line autonomous navigation, and course keep and
Tracing control is the key that autonomous navigation, PID (proportional-integral-differential) control structure is often used in engineering, due to different nothings
The dimensional weight of people's submariner device, system configuration, driving mechanism are widely different, and different control parameters directly affect the sound of Heading control
Answer performance and stability.Conventional method be obtained by ship basin test autonomous underwater vehicle hydrodynamic force coefficient and
Steerage, on the basis of kinetic model, using root locus Theoretical Design control parameter.But ship basin test somewhat expensive,
Test process is complex, only limits specialized vendor and grasps, is not suitable for the development of conventional autonomous underwater vehicle.A kind of mode of substitution
It is hydrodynamic force coefficient to be obtained using hydrodynamic simulation, but the error of hydrodynamic force coefficient is larger, the control ginseng of Theoretical Design
Number can only be adjusted and be optimized as reference.
The control parameter of autonomous underwater vehicle is adjusted currently, often gathering method using experience examination in engineering, is still lacked
The parameter tuning method of few systematization.Since autonomous underwater vehicle lacks parameter tuning in system design, software design procedure
Function considers, causes to carry out shakedown cruise repeatedly during parameter tuning, frequently modifies control software, tuning process is more numerous
It is trivial, time-consuming, meanwhile, the guideline for lacking systematization carries out parameter optimization, and course angle response performance is caused to be difficult to meet index
It is required that.Patent of invention CN 102621883 proposes the parameter tuning of a kind of identification model and stepping adjusting for industrial stokehold
Method, patent of invention CN103439880 propose the pid parameter setting method based on MCP standard transfer function, these methods need
First identification model, while response index is difficult to meet, and is only suitable for the thick adjusting of control parameter.Therefore, it is necessary to for unmanned submariner
The adjusting system and setting principle of the Heading control parameter designing systematization of device can quickly, finely, conveniently and efficiently refer to
Lead the adjusting and optimization process of control parameter.
Summary of the invention
In view of this, a kind of quick setting method of autonomous underwater vehicle Heading control parameter proposed by the present invention.
Realize that technical scheme is as follows:
A kind of quick setting method of autonomous underwater vehicle Heading control parameter, comprising the following steps:
Step 1: construction autonomous underwater vehicle Heading control parameters fast tuning system
Autonomous underwater vehicle Heading control parameters fast tuning system by autonomous underwater vehicle, earth station, ground data radio station and
4 part of remote controler composition；
Step 2: control parameter is adjusted based on setting principle iteration optimization:
Earth station sends measuring and control data to autonomous underwater vehicle by ground data radio station；By remote controler to autonomous underwater vehicle
Send remote-control data；Autonomous underwater vehicle navigates by water in water under the control of measuring and control data and remote-control data, and ground station is fed back
Telemetry；Earth station optimizes adjusting control parameter according to the telemetry, using setting principle.
Further, the detailed process of step 2 of the present invention are as follows:
Determine course angle step response time lower limit trminAnd upper limit trmax, overshoot upper limit σsmaxAnd the steady-state error upper limit
emax, control parameter correction factor m is setk1,mk2,mk3；
Autonomous underwater vehicle is arranged on the central axes of pond；
When autonomous underwater vehicle, which receives " automatic navigation " instruction, enters " automatic navigation " stage；Remote controler, which sends to promote, to be referred to
Enable δpc, autonomous underwater vehicle is made to accelerate to stable speed of a ship or plane Vs；
Earth station sends course angle given value ψ to autonomous underwater vehicleg=ψp+ψcmd, wherein ψpFor pond direction, ψcmdFor rank
Jump instruction, according to the ψgWith control parameter correction factor, automatic steering angle δ is calculated based on pid control algorithmr, according to
The δrControl the deflection of autonomous underwater vehicle vertical steering wheel；After continuing setting time, remote controler, which reduces, promotes instruction δpcTo zero-bit；
When autonomous underwater vehicle receives " parameters revision " instruction, into " parameters revision " stage；
The course angle ψ that earth station returns according to autonomous underwater vehicle extracts step response time tr, overshoot σsIt is missed with stable state
Poor e；
If meeting trmin≤tr≤trmax,σs< σsmax, | e | < emax, then parameter tuning, termination test are completed；Otherwise,
Control parameter correction factor is updated according to setting principle, the above process is re-executed, until meeting the requirements.
Further, the present invention is when being unsatisfactory for requiring, according to following setting principle undated parameter correction value mk1,mk2,
mk3:
If (a) tr> trmax,σs< σsmax, then mk1=mk1kmk1,mk2=mk2kmk2,mk3=mk3/kmk3；
If (b) tr> trmax,σs≥σsmax, then mk1=mk1kmk1,mk2=mk2/kmk2,mk3=mk3/kmk3；
If (c) trmin≤tr≤trmax,σs< σsmax, then mk1=mk1,mk2=mk2kmk2,mk3=mk3；
If (d) trmin≤tr≤trmax,σs≥σsmax, then mk1=mk1,mk2=mk2/kmk2,mk3=mk3；
If (e) tr≤trmin,σs< σsmax, then mk1=mk1/kmk1,mk2=mk2,mk3=mk3kmk3；
If (f) tr≤trmin,σs≥σsmax, then mk1=mk1/kmk1,mk2=mk2/kmk2,mk3=mk3kmk3；
Wherein, 1≤kmk1≤1.25,1≤kmk2≤1.25,1≤kmk3≤1.25。
The beneficial effects of the present invention are:
1) present invention proposes the quick setting method of autonomous underwater vehicle Heading control parameter a kind of, and this method is by parameter tuning
Carried out with control system highly integrated, the transmitting-receiving of setting parameter and director data carried out by radio station, by be remotely controlled into
The control of the row speed of a ship or plane, avoids repetition modification control software and test repeatedly prepares, and significantly improves the efficiency of parameter tuning.
2) the quick setting method of a kind of autonomous underwater vehicle Heading control parameter proposed by the present invention, this method combination course
The step response at angle in real time, dynamically carries out parameters revision, the responsiveness of course angle by fine parameter tuning guideline
It can be significantly improved with stability.
3) the quick setting method of a kind of autonomous underwater vehicle Heading control parameter proposed by the present invention, the parameter tuning process
Lower for the dependence of external environment and experiments supporting facility, parameter tuning experimentation cost is low, the operation of parameter tuning process
Simply, it is easily achieved.
4) the quick setting method proposed by the present invention for proposing a kind of autonomous underwater vehicle Heading control parameter, this method are disobeyed
Rely the research and development cost for reducing autonomous underwater vehicle in the accurate hydrodynamic model of autonomous underwater vehicle and develops threshold.
Detailed description of the invention
Fig. 1 is that autonomous underwater vehicle Heading control parameters fast tuning system of the invention forms figure；
Fig. 2 is the stage management logic chart that autonomous underwater vehicle of the invention controls computer；
Fig. 3 is the different response curves of autonomous underwater vehicle course angle step response of the invention；
In figure: 1- autonomous underwater vehicle, 2- earth station, the ground 3- data radio station, 4- remote controler, 5- body, 6- dorsal fin, 7- control
Computer processed, 8- navigation attitude instrument, 9- data radio station (airborne), 10- remote control receiver, 11- battery, 12- hydroplane, 13- are vertical
Rudder, 14- propeller, 15- data radio station antenna, 16- remote control receiver antenna.
Specific embodiment
The specific embodiment of the invention is described further with reference to the accompanying drawing.
A kind of quick setting method of autonomous underwater vehicle Heading control parameter proposed by the present invention specifically includes following step
It is rapid:
Step 1: construction autonomous underwater vehicle Heading control parameters fast tuning system
As shown in Figure 1, autonomous underwater vehicle Heading control parameters fast tuning system by autonomous underwater vehicle 1, earth station 2,
Face station data radio station 3 and 4 four part of remote controler composition.When autonomous underwater vehicle 1 is in pond, the body of autonomous underwater vehicle 15
In the water surface hereinafter, dorsal fin 6 stretches out the water surface, inside arrangement data radio station antenna 15 and remote control receiver antenna 16.Unmanned submariner
Powered inside device 1 by battery 11, arrangement control computer 7 in 1 electronic compartment of autonomous underwater vehicle, navigation attitude instrument 8, airborne data radio station 9,
Remote control receiver 10, afterbody arrange hydroplane 12, vertical rudder 13 and propeller 14.
The function of each component part of adjusting system is as follows:
Earth station 2 sends measuring and control data to autonomous underwater vehicle 1 by earth station's data radio station 3, including segment instructs Cd, boat
To angle given value ψg, control parameter correction factor mk1,mk2,mk3；
Surface operations hand sends remote-control data to autonomous underwater vehicle 1 by remote controler 4, and the angle of rudder reflection including vertical rudder 13 refers to
Enable δrcAnd the telecommand δ of propeller 14pc；
8 timing of navigation attitude instrument of autonomous underwater vehicle 1 sends measurement data, including course angle ψ and course to control computer 7
Angular speed r；
Control computer 7 on autonomous underwater vehicle 1 passes through the measuring and control data of 9 satellite receiver 2 of data radio station, passes through remote control
Device receiver 10 receives remote-control data, while receiving the measurement data of navigation attitude instrument 8；
It controls computer 7 and C is instructed according to segmentdThe corresponding navigation stage P of switchingh, control instruction is resolved, to vertical rudder 13
It sends angle of rudder reflection and instructs δr, to propeller 14 send promote instruction δp；
The telemetry that 1 timing ground station 2 of autonomous underwater vehicle is sent, including navigation stage Ph, course angle instruct ψg, boat
δ is instructed to the angle of rudder reflection of angle ψ, course angular speed r and vertical rudder 13rAnd the propulsion of propeller 14 instructs δp。
Wherein: navigation stage Ph=0,1,2 respectively indicates " waiting navigation ", " automatic navigation ", " parameters revision " stage；Boat
Duan Zhiling Cd=0,1,2 respectively indicates " waiting navigation ", " automatic navigation ", " parameters revision " instruction；Course angle given value ψgIt is full
- 180 ° of < ψ of footg≤180°；Control parameter correction factor mk1,mk2,mk3Meet 0≤mki≤ 5 (i=1,2,3).
Design autonomous underwater vehicle respectively navigates by water the control program in stage:
Computer 7 is controlled in different navigation stage Ph, corresponding control program is executed, realizes navigation control, is executed vertical
Rudder 13 and propeller 14 act accordingly, and the stage management logic for controlling computer is as shown in Figure 2:
(1) " navigation waits " stage (Ph=0).Vertical rudder 13 and propeller 14 are in zero-bit, i.e. δp=0, δr=0；
(2) " automatic navigation " stage (Ph=1).Remote controler 4 passes through telecommand δpcManipulate propeller 14, i.e. δp=δpc；
Vertical rudder 13 uses pid control algorithm automatic steering angle:
δr=-[Kψp(ψg-ψ)+Kψi∫(ψg-ψ)dτ-Krr]
Wherein, Kψp> 0, Kψi≥0,Kr> 0 is respectively proportionality coefficient, integral coefficient, the differential coefficient of course angle, and
Kψp=Kψp0mk1,Kψi=Kψi0mk2,Kr=Kr0mk3, and control parameter initial value Kψp0,Kψi0,Kr0It is determined using root locus method, boat
To angle given value ψgIt is set by earth station 2 by measuring and control data.
(3) " parameters revision " stage (Ph=2).Vertical rudder 13, propeller 14 are manipulated by remote controler, it may be assumed that δp=δpc,δr
=δrc.Earth station 2 is according to setting principle undated parameter correction value mk1,mk2,mk3, it is sent to the control computer of autonomous underwater vehicle 1
7。
Step 2: being based on above-mentioned design, and setting principle iteration adjusts the detailed process of control parameter are as follows:
The course angle step response test for repeating to carry out basin test carries out course angle control based on parameter tuning principle
The iteration of parameter is adjusted:
(1) response dynamics for combining autonomous underwater vehicle, determine course angle step response time lower limit trminAnd upper limit trmax、
Overshoot upper limit σsmax, steady-state error upper limit emax.Usually setting meets 2s≤trmin≤ 5s, 5s < trmax≤ 8s, 100%≤
σsmax≤ 120%, emax≤0.1ψcmd, m is setk1=1, mk2=1, mk3=1.
(2) autonomous underwater vehicle 1 is arranged in pond central axes, and control computer 7 powers on or receive " waiting navigation " instruction
(Cd=0) after, into " waiting navigation " stage (Ph=0), course angle ψ=ψp, wherein ψpIt is directed toward for pond, and -180 ° of < ψp≤
180°；Earth station 2 sends course angle given value ψ to autonomous underwater vehicle 1 by earth station's data radio station 3g=ψp；
(3) " automatic navigation " instruction (C is sentd=1), autonomous underwater vehicle 1 enters " automatic navigation " stage (Ph=1)；Pass through
4 throttle push rod of remote controler gradually increases propulsion instruction δpc, until autonomous underwater vehicle 1 accelerates to stable speed of a ship or plane VsAfterwards, throttle is kept
Bar position；
(4) earth station 2 sends course angle setting value ψ to autonomous underwater vehicle 1g=ψp+ψcmd.Wherein, -30 °≤ψcmd≤30°
For relative to initial value ψpStep instruction, according to the ψgWith control parameter correction factor, come from based on pid control algorithm calculating
Dynamic control course angle δr, according to the δrControl the deflection of autonomous underwater vehicle vertical steering wheel；
(5) after the process continues 10s, the propulsion for reducing remote controler 4 instructs δpcTo zero-bit, counted by earth station 2 to control
Calculation machine 7 sends " parameters revision " and instructs (Cd=2), into " parameters revision " stage (Ph=2)；
(6) the course angle setting value ψ that earth station 2 returns according to autonomous underwater vehicle 1gAnd course angle ψ, extract step response
Time tr, overshoot σsWith steady-state error e.Wherein, trReach step value ψ for course angle ψcmd80% needed for the time；σs=
(ψmax-ψg)/ψcmd, ψmaxFor maximum course angle；E=| ψe-ψg|, ψeContinue course angle after 10s for step response.
(7) if meeting trmin≤tr≤trmax,σs< σsmax, | e | < emax, then parameter tuning, termination test are completed；It is no
Then, in conjunction with the different step response curves of Fig. 3, according to following setting principle undated parameter correction value mk1,mk2,mk3:
If (a) tr> trmax,σs< σsmax, then mk1=mk1kmk1,mk2=mk2kmk2,mk3=mk3/kmk3；
If (b) tr> trmax,σs≥σsmax, then mk1=mk1kmk1,mk2=mk2/kmk2,mk3=mk3/kmk3；
If (c) trmin≤tr≤trmax,σs< σsmax, then mk1=mk1,mk2=mk2kmk2,mk3=mk3；
If (d) trmin≤tr≤trmax,σs≥σsmax, then mk1=mk1,mk2=mk2/kmk2,mk3=mk3；
If (e) tr≤trmin,σs< σsmax, then mk1=mk1/kmk1,mk2=mk2,mk3=mk3kmk3；
If (f) tr≤trmin,σs≥σsmax, then mk1=mk1/kmk1,mk2=mk2/kmk2,mk3=mk3kmk3；
Wherein, 1≤kmk1≤1.25,1≤kmk2≤1.25,1≤kmk3≤1.25。
(8) after updating above-mentioned parameter, vertical rudder 13 and propeller 14 are controlled by remote controler 4, again by autonomous underwater vehicle 1
It is arranged in pond initial position, earth station 2 sends " waiting navigation " instruction (C to control computer 7d=0), then repeatedly step
(2)~(7).
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (6)
1. a kind of quick setting method of autonomous underwater vehicle Heading control parameter, which is characterized in that comprising the following steps:
Step 1: construction autonomous underwater vehicle Heading control parameters fast tuning system
Autonomous underwater vehicle Heading control parameters fast tuning system is by autonomous underwater vehicle, earth station, ground data radio station and remote control
4 part of device composition；
Step 2: control parameter is adjusted based on setting principle iteration optimization:
Earth station sends measuring and control data to autonomous underwater vehicle by ground data radio station；It is sent by remote controler to autonomous underwater vehicle
Remote-control data；Autonomous underwater vehicle navigates by water in water under the control of measuring and control data and remote-control data, and ground station feeds back telemetering
Data；Earth station optimizes adjusting control parameter according to the telemetry, using setting principle.
2. the quick setting method of autonomous underwater vehicle Heading control parameter according to claim 1, which is characterized in that the step
Rapid two detailed process are as follows:
Determine course angle step response time lower limit trminAnd upper limit trmax, overshoot upper limit σsmaxAnd steady-state error upper limit emax,
Control parameter correction factor m is setk1,mk2,mk3；
When autonomous underwater vehicle, which receives " automatic navigation " instruction, enters " automatic navigation " stage；Remote controler, which is sent, promotes instruction
δpc, autonomous underwater vehicle is made to accelerate to stable speed of a ship or plane Vs；
Earth station sends course angle given value ψ to autonomous underwater vehicleg=ψp+ψcmd, wherein ψpWhen to enter the automatic navigation stage without
The course angle of people's submariner device, ψcmdIt is instructed for step, according to the ψgWith control parameter correction factor, based on pid control algorithm
Calculate automatic steering angle δr, according to the δrControl the deflection of autonomous underwater vehicle vertical steering wheel；It is distant after continuing setting time
It controls device and reduces propulsion instruction δpcTo zero-bit；
When autonomous underwater vehicle receives " parameters revision " instruction, into " parameters revision " stage；
The course angle ψ that earth station returns according to autonomous underwater vehicle extracts step response time tr, overshoot σsWith steady-state error e；
If meeting trmin≤tr≤trmax,σs< σsmax, | e | < emax, then parameter tuning, termination test are completed；Otherwise, according to
Setting principle updates control parameter correction factor, the above process is re-executed, until meeting the requirements.
3. the quick setting method of autonomous underwater vehicle Heading control parameter according to claim 2, which is characterized in that the rank
Jump response time trReach step value ψ for course angle ψcmd80% needed for the time, overshoot σs=(ψmax-ψg)/ψcmd, ψmax
For maximum course angle, steady-state error e=| ψe-ψg|, ψeContinue course angle after 10s for step response.
4. the quick setting method of autonomous underwater vehicle Heading control parameter according to claim 2, which is characterized in that described
Pid control algorithm are as follows:
δr=-[Kψp(ψg-ψ)+Kψi∫(ψg-ψ)dτ-Krr]
Wherein, Kψp> 0, Kψi≥0,KrProportionality coefficient, integral coefficient, the differential coefficient of the respectively course angle of > 0, and Kψp=
Kψp0mk1,Kψi=Kψi0mk2,Kr=Kr0mk3, and control parameter initial value Kψp0,Kψi0,Kr0It is determined using root locus method.
5. the quick setting method of autonomous underwater vehicle Heading control parameter according to claim 2, which is characterized in that by nobody
Submariner device is arranged on the central axes of pond, before entering the automatic navigation stage, the course angle ψ of autonomous underwater vehiclepFor pond direction.
6. the quick setting method of autonomous underwater vehicle Heading control parameter according to claim 2, which is characterized in that when discontented
When foot requires, according to following setting principle undated parameter correction value mk1,mk2,mk3:
If (a) tr> trmax,σs< σsmax, then mk1=mk1kmk1,mk2=mk2kmk2,mk3=mk3/kmk3；
If (b) tr> trmax,σs≥σsmax, then mk1=mk1kmk1,mk2=mk2/kmk2,mk3=mk3/kmk3；
If (c) trmin≤tr≤trmax,σs< σsmax, then mk1=mk1,mk2=mk2kmk2,mk3=mk3；
If (d) trmin≤tr≤trmax,σs≥σsmax, then mk1=mk1,mk2=mk2/kmk2,mk3=mk3；
If (e) tr≤trmin,σs< σsmax, then mk1=mk1/kmk1,mk2=mk2,mk3=mk3kmk3；
If (f) tr≤trmin,σs≥σsmax, then mk1=mk1/kmk1,mk2=mk2/kmk2,mk3=mk3kmk3；
Wherein, 1≤kmk1≤1.25,1≤kmk2≤1.25,1≤kmk3≤1.25。
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