CN110231822B - Variable output constrained model-free self-adaptive course control method for ship - Google Patents

Variable output constrained model-free self-adaptive course control method for ship Download PDF

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CN110231822B
CN110231822B CN201910480480.9A CN201910480480A CN110231822B CN 110231822 B CN110231822 B CN 110231822B CN 201910480480 A CN201910480480 A CN 201910480480A CN 110231822 B CN110231822 B CN 110231822B
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廖煜雷
姜权权
李晔
成昌盛
武皓微
潘恺文
张铁栋
王卓
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Harbin Engineering University
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    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles

Abstract

The invention discloses a variable output constrained model-free self-adaptive course control method for ships, belonging to the field of ship motion control; firstly, defining a system output constraint function; then the expected output y of the heading system*(k) Subtracting the actual output quantity y (k) to obtain an error e (k); when the error e (k) exceeds the set threshold value e of the heading state deviation0Then, the expected rudder angle u is calculated by a variable output constraint type model-free self-adaptive control method according to e (k)m(k) (ii) a And then the operating mechanism receives and executes a heading system input command u (k), and the heading psi (k) of the ship is updated when k is equal to k + 1. The invention is provided with
Figure DDA0002083672060000011
The form of the method is taken as an example, the sensitivity of the output redefinition model-free self-adaptive control method to redefinition coefficients is reduced through the introduction of a variable output constraint function, and meanwhile, the robustness of the system is improved.

Description

Variable output constrained model-free self-adaptive course control method for ship
Technical Field
The invention relates to the field of ship motion control, in particular to a variable output constrained model-free self-adaptive course control method for ships.
Background
The course control of the ship is very important for a ship system, and the expected track can be effectively tracked only by ensuring the stable course of the ship. In practical engineering application, the course control of a ship basically adopts a PID control algorithm and a conventional control algorithm developed based on a model-oriented design strategy. The PID controller is a data-driven control algorithm based on offline data, but when a ship runs in a marine environment, the ship is easily influenced by perturbation of a model, interference force of the marine environment and the like, so that the PID controller is difficult to maintain a consistent control effect, and the system can keep good control performance or stability only by readjusting parameters. The controller developed based on the model-oriented design strategy seriously depends on a system mathematical model, and because the accurate mathematical model is very difficult to obtain, the self-adaption of the system is poor due to the influence of unmodeled dynamics, model perturbation and the like, and the robust performance of the system is difficult to ensure, so that the controller is difficult to be applied in engineering.
In the document "Heading MFA control for unified surface vehicle with angular velocity Heading", the authors propose a cascade control method to indirectly control the Heading of an unmanned ship by means of angular velocity guidance. However, the controller has a complex structure, more controller parameters and difficult parameter setting. On application date 2018, 09 and 5, application number 201811031878.6, the invention name "integral separation type PI type compact format model-free control method for ships" realizes the purpose of controlling the ship course by combining proportional control and a compact format model-free self-adaptive method, but the proportional control has no self-adaptability. On 2018, 02, 2 and application No. 201810106120.8, entitled "a redefined output model-free adaptive course control algorithm", redefines the output of a ship course system into the linear sum of the ship course and the angular velocity, so that the ship course system meets the requirement of a model-free adaptive theory on the quasi-linear assumption condition of a controlled system. But the control performance of the algorithm is sensitive to redefined coefficients and the robustness is poor.
Disclosure of Invention
The invention aims to provide a variable output constrained model-free self-adaptive course control method for a ship. By proposing a system output constraint function up(k) F (y + k +1), y (k)), thereby limiting the upper and lower limits of the output of the ship heading system at different times.
In order to achieve the purpose, the technical scheme adopted by the invention comprises the following steps:
a variable output constrained model-free self-adaptive course control method for ships comprises the following steps:
the method comprises the following steps: defining a system output constraint function up(k) F (y +1), y (k)), the constraint function including linear, non-linear, etc. forms taken in the present invention
Figure BDA0002083672040000011
Wherein y (K) ═ ψ (K) + KrX r (k) is the actual output of the course system at time k, y*(k+1)＝ψ*(k+1)+Kr×r*(k +1) is the expected output of the course system at the moment k +1, psi (k +1), r (k +1) is the actual course and course angular velocity of the ship at the moment k +1, respectively, psi*(k)，r*(k) Respectively an expected course and an expected course angular velocity of the ship at the moment k;
step two: the expected output quantity y of the heading system*(k) Subtracting the actual output quantity y (k) to obtain an error e (k), and when the absolute value | e (k) | of e (k) is less than the threshold value e of the set heading state deviation0If the actual course of the ship is determined to be converged to the expected course and jumps out of the cycle, if not, executing the step four, otherwise, executing the step three;
step three: the variable output constrained model-free self-adaptive control method calculates the expected rudder angle u according to e (k)m(k)；
Step four: and the operating mechanism receives and executes the heading system input command u (k), and updates the ship heading psi (k) by making k equal to k +1, and then the operation goes to step two.
The variable output constrained model-free self-adaptive control method comprises the following steps:
Figure BDA0002083672040000021
Figure BDA0002083672040000022
Figure BDA0002083672040000023
y(k+1)＝ψ(k+1)+Kr×r(k+1) (4)
Figure BDA0002083672040000024
uUP(k)＝min{umax,up} (6)
uLP(k)＝max{umin,up} (7)
um(k)＝um(k),ifuLP≤um(k)≤uUP (8)
um(k)＝uLP(k),ifum(k)≤uLP (9)
um(k)＝uUP(k),ifum(k)≥uUP (10)
wherein, eta ∈ (0, 1)]，ρ∈(0,1]Is a step size factor, mu > 0 is a weight coefficient, phi (k) is a pseudo-biasThe derivative(s) of the signal(s),
Figure BDA0002083672040000025
is a pseudo partial derivative estimated value; u. ofmaxAnd uminRespectively an upper limit and a lower limit of actual output of the steering engine when the variable output constraint function is not considered; u. ofUP(k) And uLP(k) Respectively the maximum value and the minimum value which can be actually output by the steering engine after the variable output constraint function is introduced; u (k) is the expected output of the controller without considering the output constraint function and the actuator saturation constraint; u. ofp(k) Obtaining the maximum output of the controller after the k moment is limited by a control output constraint function; u. ofm(k) The maximum output of the control algorithm after constraint function limitation is considered for actuator saturation and control output. Psi (K +1), r (K +1) are the actual course and course angular velocity of the ship at time K +1, KrTo redefine the coefficients; e (k) is tracking offset; equations (1) - (4) form an output redefinition model-free adaptive algorithm, and equations (5) - (10) are controller output dynamic regulation mechanisms; equations (1) - (10) constitute the VOC-MFAC algorithm.
Compared with the prior art, the invention has the following advantages and effects:
the invention is provided with
Figure BDA0002083672040000031
The form of the method is taken as an example, the sensitivity of the output redefinition model-free self-adaptive control method to redefinition coefficients is reduced through the introduction of a variable output constraint function, and meanwhile, the robustness of the system is improved.
Drawings
FIG. 1 is an overall block diagram of the heading system of the present invention;
fig. 2 is a flow chart of the present invention.
Detailed Description
The invention solves the problems by providing a variable output constraint type model-free self-adaptive course control method for a ship, aiming at the problems that when an output redefinition model-free self-adaptive algorithm is applied to ship course control, the control effect of a system is sensitive to an output redefinition coefficient and the robustness of the control system is poor.
The invention is further described below with reference to the accompanying drawings.
FIG. 1 illustrates a heading system model of the present invention, first giving the expected heading state y of the ship*(k +1), and taking the actual course state y (k) of the ship at the current moment as the negative feedback input of the VOC-MFAC controller, and solving the expected input of the course system, namely the expected rudder angle u on linem(k) The control mechanism of the ship executes the expected input command um(k) In that respect And updating the actual course direction and the actual angular speed of the ship system, and using the updated y (k) as the negative feedback input of the VOC-MFAC controller again. The above process is repeated until the actual heading of the ship converges to the desired heading.
Figure 2 shows a system flow diagram of the present invention. The method comprises the following concrete steps:
(1) defining a system output constraint function up(k) F (y +1), y (k)), which includes linear, nonlinear, etc., taken in the present invention
Figure BDA0002083672040000032
Wherein y (K) ═ ψ (K) + KrX r (k) is the actual output of the course system at time k, y*(k+1)＝ψ*(k+1)+Kr×r*(k +1) is the expected output of the course system at the moment k +1, psi (k +1), r (k +1) is the actual course and course angular velocity of the ship at the moment k +1, respectively, psi*(k)，r*(k) Respectively the expected course and the expected course angular velocity of the ship at the moment k
(2) Outputting the expected output y of the course system*(k) Subtracting the actual output y (k) and taking the absolute value to obtain an error e (k), when the absolute value | e (k) | of e (k) is less than the threshold value e of the set heading state deviation0(e0For smaller normal amounts, in the present invention, e is used02 for example), the actual heading of the ship is considered to converge to the desired heading and jump out of the loop, otherwise (4) is performed.
(3) A variable output constrained model free adaptive control (VOC-MFAC) algorithm calculates the expected rudder angle u according to e (k)m(k)；
VOC-MFAC algorithm:
Figure BDA0002083672040000041
Figure BDA0002083672040000042
Figure BDA0002083672040000043
y(k+1)＝ψ(k+1)+Kr×r(k+1) (4)
Figure BDA0002083672040000044
uUP(k)＝min{umax,up} (6)
uLP(k)＝max{umin,up} (7)
um(k)＝um(k),ifuLP≤um(k)≤uUP (8)
um(k)＝uLP(k),ifum(k)≤uLP (9)
um(k)＝uUP(k),ifum(k)≥uUP (10)
wherein, eta ∈ (0, 1)]，ρ∈(0,1]Is a step size factor, mu > 0 is a weight coefficient, phi (k) is a pseudo partial derivative,
Figure BDA0002083672040000045
is a pseudo partial derivative estimated value; u. ofmaxAnd uminRespectively an upper limit and a lower limit of actual output of the steering engine when the variable output constraint function is not considered; u. ofUP(k) And uLP(k) Respectively the maximum value and the minimum value of the actual output of the steering engine after the variable output constraint function is introducedA value; u (k) is the expected output of the controller without considering the output constraint function and the actuator saturation constraint; u. ofp(k) Obtaining the maximum output of the controller after the k moment is limited by a control output constraint function; u. ofm(k) The maximum output of the control algorithm after constraint function limitation is considered for actuator saturation and control output. Psi (K +1), r (K +1) are the actual course and course angular velocity of the ship at time K +1, KrTo redefine the coefficients. e (k) is the tracking offset.
Equations (1) - (4) form an output redefinition model-free adaptive algorithm, and equations (5) - (10) are controller output dynamic adjustment mechanisms. Equations (1) - (10) constitute the VOC-MFAC algorithm.
(4) The control mechanism receives and executes the input command u of the course systemm(k) And (5) making k equal to k +1, updating the ship heading psi (k), and going to the step (2).
The system outputs a constraint function: u. ofp(k)＝f(y*(k+1),y(k))；up(k) F (y + k +1), y (k)) includes a number of specific mathematical expressions, any mathematical expression being up(k) F (y (k +1), y (k)), this form of variable output constrained model-free adaptive heading control method; the system outputs a constraint form in the invention
Figure BDA0002083672040000051
The examples are illustrative; wherein y is*And (k +1), y (k) respectively represent generalized output of a heading system, including heading, heading angular velocity and the like of the ship.
The invention provides a variable output constrained model-free self-adaptive course control method for a ship based on an output redefinition model-free self-adaptive course control algorithm, which is used for solving the problems that the robustness of the output redefinition model-free self-adaptive course control algorithm is poor and the control performance is sensitive to redefinition coefficients by providing a variable output constrained function and limiting the upper and lower boundaries of the controller output at different moments.
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 (2)

1. A variable output constrained model-free self-adaptive course control method for ships is characterized by comprising the following steps:
the method comprises the following steps: defining a system output constraint function up(k) F (y +1), y (k)), the constraint function including linear, non-linear, etc. forms taken in the present invention
Figure FDA0003452049850000011
Wherein y (K) ═ ψ (K) + KrX r (k) is the actual output of the course system at time k, y*(k+1)＝ψ*(k+1)+Kr×r*(k +1) is the expected output of the course system at the moment k +1, psi (k +1), r (k +1) is the actual course and course angular velocity of the ship at the moment k +1, respectively, psi*(k)，r*(k) Respectively an expected course and an expected course angular velocity of the ship at the moment k;
step two: the expected output quantity y of the heading system*(k) Subtracting error e (k) from actual output quantity y (k), when absolute value | e (k) | of e (k) is less than threshold value e of set heading state deviation0If the actual course of the ship is converged to the expected course, jumping out of the loop, otherwise, executing the third step;
step three: the variable output constrained model-free self-adaptive control method calculates the expected rudder angle u according to e (k)m(k)；
Step four: and the operating mechanism receives and executes the heading system input command u (k), and updates the ship heading psi (k) by making k equal to k +1, and then the operation goes to step two.
2. The method of claim 1, wherein the method comprises:
Figure FDA0003452049850000012
Figure FDA0003452049850000013
Figure FDA0003452049850000014
y(k+1)＝ψ(k+1)+Kr×r(k+1)
Figure FDA0003452049850000015
uUP(k)＝min{umax,up}
uLP(k)＝max{umin,up}
um(k)＝um(k),if uLP≤um(k)≤uUP
um(k)＝uLP(k),if um(k)≤uLP
um(k)＝uUP(k),if um(k)≥uUP
wherein, eta ∈ (0, 1)]，ρ∈(0,1]Is a step size factor, mu > 0 is a weight coefficient, phi (k) is a pseudo partial derivative,
Figure FDA0003452049850000021
is a pseudo partial derivative estimated value; u. ofmaxAnd uminRespectively an upper limit and a lower limit of actual output of the steering engine when the variable output constraint function is not considered; u. ofUP(k) And uLP(k) Respectively the maximum value and the minimum value which can be actually output by the steering engine after the variable output constraint function is introduced; u (k) is the expected output of the controller without considering the output constraint function and the actuator saturation constraint; u. ofp(k) Obtaining the maximum output of the controller after the k moment is limited by a control output constraint function; u. ofm(k) To take into account actuator saturation and control output constraintsMaximum output of the control algorithm after the restriction of the beam function; psi (K +1), r (K +1) are the actual course and course angular velocity of the ship at time K +1, KrTo redefine the coefficients; e (k) is the tracking offset.
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