CN110361975A - A kind of adaptive fusion method of the UMV State time-delay system based on sliding mode technology - Google Patents
A kind of adaptive fusion method of the UMV State time-delay system based on sliding mode technology Download PDFInfo
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Abstract
The present invention provides a kind of adaptive fusion method of UMV State time-delay system based on sliding mode technology, comprising: the UMV State time-delay system of building one propeller fault model and disturbance；For the UMV State time-delay system of building, sliding-mode surface is designed；Sliding-mode surface based on design designs sliding formwork fault-tolerant controller.Sliding formwork fault-tolerant controller based on design designs adaptation mechanism, completes adaptive sliding mode faults-tolerant control strategy.Technical solution of the present invention is based on sliding mode technology, and the method combined using faults-tolerant control with adaptation mechanism not only overcomes the negative effect of states with time-delay and various propeller failures to UMV, can be with the various unknown parameters of On-line Estimation.
Description
Technical Field
The invention relates to the technical field of unmanned ship fault-tolerant control, in particular to a self-adaptive fault-tolerant control method of a UMV state time-lag system based on a sliding mode technology.
Background
UMV is a generic term that includes unmanned/autonomous underserver vehicle (UUV/AUV) and Unmanned Surface Vehicle (USV). With the rapid development of ocean development in recent decades, the research on the motion control of UMV attracts a great number of researchers at home and abroad. The main areas of research include: dynamic positioning, course control, track tracking, target tracking and the like; the main technical method involves: sliding mode control, a back-stepping method, event triggering, a neural network, and the like. Under the complex ocean condition, the influence of state time lag and propeller faults on the UMV is researched, and the method has high practical significance for accurately and accurately controlling the UMV (reducing the yaw angle error).
The problems of state time lag, propeller faults, ocean disturbance and the like existing in the running process of the UMV have a plurality of existing results. The document "Fault monitoring and re-configurable Control for a ship propulsion plant" (International Journal of Adaptive Control and signaling processing, 1998, vol.12no.8) originally proposes a Fault-tolerant Control method, which improves the reliability of ship operation through a Fault detection and diagnosis module. A new robust fault-tolerant tracking controller is designed by introducing a radial basis function and combining an adaptive control technology with sliding mode control in a document named finish-time track tracking fault-free control for surface-borne on-time-varying tracking mode (IEEEAccess, 2017, vol.6), and the problem of track tracking when parameter uncertainty, additional disturbance and propeller fault exist is effectively solved. Based on a Network control technology, a document "Network-based modular and asynchronous output feedback control for an unmanaged marine in Network environment" (automatic, 2018, vol.91) designs a dynamic output feedback controller for UMV in a Network environment, so that the problems of packet loss and time delay in Network communication are solved, and the yaw angle error and amplitude are reduced. The document "Fault tolerant control of UMV based on sliding mode output feedback" (applied matching and computing, 2019, vol.359) designs a robust sliding mode Fault-tolerant output feedback controller, and the design of the controller is divided into two steps: designing a sliding mode surface by adopting a matrix inequality method based on a matrix full-rank decomposition technology; and the other step is to design an output feedback controller to compensate various propeller faults (failure, interruption and time-varying dead-jamming faults).
When a UMV performs a task, it inevitably suffers from various propeller failures due to the complex marine environment. Moreover, because the UMV is connected with the land console through the network, the state skew phenomenon often occurs. However, the prior art considers the situation singly and does not solve the problems well.
Disclosure of Invention
In order to compensate for propeller faults and robust state time lag, the invention provides a self-adaptive fault-tolerant control method of a UMV state time lag system based on a sliding mode control technology.
The technical means adopted by the invention are as follows:
a self-adaptive fault-tolerant control method of a UMV state time-lag system based on a sliding mode technology comprises the following steps:
s1, constructing a UMV state time-lag system containing propeller fault type and disturbance;
s2, designing a sliding mode surface aiming at the UMV state time-lag system constructed in the step S1;
s3, designing a sliding mode fault-tolerant controller based on the sliding mode surface designed in the step S2;
s4, designing a self-adaptive mechanism based on the sliding mode fault-tolerant controller designed in the step S3, and completing a self-adaptive sliding mode fault-tolerant control strategy.
Further, the step S1 specifically includes:
s11, defining the state error asWhen the yaw angle is sufficiently small, the UMV system isUnder the transformation of the state error matrix, the UMV state error system is changed
Where η (t) represents a position vector; v (t) represents a velocity vector; phi is aF(t) represents a thrust vector; etarefV and vrefRespectively representing position and velocity errors; representing a disturbance;
s12, establishing a unified propeller fault model (including interruption, time-varying jamming and failure faults), specifically:
φF(t)＝αφ(t)+βφs(t)
s13, in consideration of the fact that the UMV is connected to a remote console via a network and a state skew phenomenon frequently occurs, establishing a UMV state skew system including a state skew and a propeller failure, where the UMV state skew system specifically includes:
wherein, TdIs a matrix of known dimensions; d represents a delay constant; t is t0Represents an initial time; e.g. of the type0Indicating an initial state.
Further, the step S2 specifically includes:
s21, carrying out full rank decomposition on the input matrix:
L＝LvN
wherein L isv∈R6×3；N∈R3×6；
S22, designing a slip form surface, specifically as follows:
wherein M is a parameter matrix to be designed, and satisfies the following matrix inequality:
further, the sliding-mode fault-tolerant controller is specifically:
wherein,κ＝XM-1；μ0＝1/μ；λN＝λmin(NNT)；andare respectively mu0Beta andan estimated value of (d); ε is a small positive constant.
Further, the adaptive mechanism is specifically:
wherein, gamma and gamma1iAnd gamma2iIs the adaptive gain constant;andare respectively mu00、And betai0；
Definition ofDue to the fact thatAndare both 0, giving:
further, the step S4 is followed by:
s5, carrying out simulation verification research on a propeller fault model, a disturbed UMV state time-lag system, a sliding mode surface and a sliding mode fault-tolerant controller which adopt the self-adaptive fault-tolerant control scheme of the UMV state time-lag system based on the sliding mode technology, thereby verifying the effectiveness.
Compared with the prior art, the invention has the following advantages:
1. the invention comprehensively considers various factors such as state time lag, propeller faults, external ocean disturbance and the like possibly existing in the actual UMV system, achieves better control effect on the complex UMV system and has very high practicability.
2. Based on the sliding mode technology, the invention adopts a method of combining fault-tolerant control and a self-adaptive mechanism, thereby not only overcoming the negative effects of state time lag and various propeller faults on UMV, but also estimating various unknown parameters on line.
3. The failure types of the propeller considered by the invention are relatively comprehensive, including failure, time-varying jamming and interruption failure of the propeller, so that the fault-tolerant strategy designed by the invention has more practical significance.
Based on the reason, the method can be widely popularized in the fields of unmanned ship fault-tolerant control and the like.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic diagram of adaptive sliding mode fault-tolerant control design of a UMV time lag system according to an embodiment of the present invention.
Fig. 2 is a comparison graph of the state error response of the UMV skew system according to the embodiment of the present invention.
Fig. 3 is a propeller response graph of the UMV time-lag system provided by the embodiment of the present invention.
Fig. 4 is a graph comparing the sliding mode surface response of the UMV time-lag system according to the embodiment of the present invention.
FIG. 5 shows a UMV skew system according to an embodiment of the present inventionThe estimated value of (c) is responsive to the graph.
Fig. 6 is a graph showing the response of the estimated value of β in the UMV skew system according to the embodiment of the present invention.
FIG. 7 shows μ in the UMV skew system according to the embodiment of the present invention0The estimated value of (c) is responsive to the graph.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1, a method for adaptive fault-tolerant control of a UMV time lag system based on a sliding mode technique provides an adaptive sliding mode fault-tolerant strategy based on a sliding mode control method in combination with an adaptive technique when a state time lag and various propeller faults exist in the UMV system, and specifically includes the following steps:
s1, constructing a UMV state time-lag system with a universal propeller fault model and disturbance; and determining the parameters thereof, comprising the following steps:
s11, when the yaw angle is small enough, the UMV system is:
where η (t) represents a position vector; v (t) represents a velocity vector; phi is aF(t) represents a thrust vector; E. f, R and K are matrices of known dimensions.
Defining a state error asAnd taking into account disturbancesUnder the transformation of the state error matrix, the UMV state error system is:
wherein eta isrefV and vrefRespectively representing position and velocity errors;
s12, the propeller system is one of the most important power supply devices of the UMV system, and once a fault occurs, the task can be cancelled, and the loss is immeasurable. Establishing a unified propeller fault model (including interruption, time-varying seizure and failure faults), specifically:
φF(t)＝αφ(t)+βφs(t)
wherein alpha is a diagonal semi-positive definite weighting matrix representing the effectiveness of each thruster, and satisfies the relationFor i 1, …, m and j 1, …, n there is a relationm represents the number of propellers; n represents the overall failure mode; beta represents a unit diagonal matrix or a zero matrix; the relationship of α to β is: when alpha is more than 0 and less than or equal to 1, beta is 0; when α ═ 0, β ═ 0 or β ═ 1; nonparametric stuck-at faults are piecewise continuous bounded equations, i.e.
S13, in consideration of the fact that the UMV is connected to a remote console via a network and a state skew phenomenon frequently occurs, establishing a UMV state skew system including a state skew and a propeller failure, where the UMV state skew system specifically includes:
wherein, TdIs a matrix of known dimensions; d represents a delay constant; t is t0Represents an initial time; e.g. of the type0Indicating an initial state.
To reduce yaw angle error and magnitude, the control output is defined as:
z(t)＝Ce(t)
wherein, C ═ 000001.
S2, designing a sliding mode surface aiming at the UMV state time-lag system constructed in the step S1;
the step S2 specifically includes:
s21, carrying out full rank decomposition on the input matrix:
L＝LvN
wherein L isv∈R6×3；N∈R3×6；
S22, designing a slip form surface, specifically as follows:
wherein, M is a constant matrix to be designed and can be obtained by solving a matrix inequality. Specifically, the method comprises the following steps:
defining a state transition matrix asDefining a correlation vector as
It is possible to obtain:and
through the above conversion, the UMV skew system is changed to:
according to the principle of equivalent control, the obtained equivalent control rate is as follows:
wherein, (N alpha)+Is the Moore-Penrose inverse of the matrix N α.
Order toBy phieq(t) instead of φ (t), one can obtain:
wherein,
binding H∞The following conclusions can be drawn from the control theory, and the projection theory and the Schur complement theory. And M and X can be solved by the following matrix inequality.
If a positive definite matrix M, a matrix X and a positive constant gamma exist0For arbitraryAnd j ∈ I (ii)1, n), satisfying the following matrix inequality:
the reduced order sliding mode system is asymptotically stable and H∞Index no greater than gamma0。
And S3, designing a sliding mode fault-tolerant controller based on the sliding mode surface designed in the step S2 and the solved M and X. So that the reduced order system can be maintained on the slip-form surface and pulled onto the slip-form surface in the event of a propeller failure, with state time lag and disturbances. Specifically, the method comprises the following steps:
firstly, constructing a Lyapunov function, wherein the function expression of the Lyapunov function is as follows:
through a series of derivation and calculation, the sliding-mode fault-tolerant controller is designed as follows:
wherein κ ═ XM-1；μ0＝1/μ；λN＝λmin(NNT)；Andare respectively mu0Beta andan estimated value of (d); ε is a small positive constant.
Thereby can obtainI.e. to ensure that the UMV lag system is asymptotically stable.
S4, designing a self-adaptive mechanism based on the sliding mode fault-tolerant controller designed in the step S3, and completing a self-adaptive sliding mode fault-tolerant control strategy. The self-adaptive mechanism is specifically as follows:
wherein, gamma and gamma1iAnd gamma2iIs the adaptive gain constant;andare respectively mu00、And betai0；
Definition ofDue to the fact thatAndare both 0, so that:
further, it is possible to obtain:
because of the fact thatSo a suboptimal adaptation H of the UMV skew system is demonstrated∞Performance index not greater than gamma0。
S5, carrying out simulation research on the UMV state time-lag system containing the propeller faults and disturbance, the sliding mode surface and the sliding mode fault-tolerant controller which adopt the self-adaptive fault-tolerant control scheme of the UMV state time-lag system based on the sliding mode technology, thereby verifying the effectiveness. Specifically, the effectiveness of the designed adaptive sliding mode fault-tolerant control scheme is illustrated by a simulation experiment case.
The simulation verification analysis is performed by taking a typical floating ship with the length of 200.6 meters and the mass of 73097.15 kilograms as an example. Wherein the various parameters are as follows:
the state skew constant is d 1 s. Propeller failure occurred after 15s, and propeller failure was set to: the main propeller on the port side has time-varying dead-locking fault, and the fault value is set to beA 50% failure of the starboard main thruster occurs; stern channel propeller IGenerating an interrupt fault; the rest propellers are in normal state.
The external ocean disturbances are:
wherein,Kξ1s＝0.2；Kξ2s＝0.6；ε1＝0.5；ε2＝1.6；σ1＝0.7；σ2＝1；Ψ1(t) and Ψ2(t) white noise with noise values of 2 and 1.8, respectively; i is1＝[0 0 0 1 0 0]；I2＝[0 0 0 0 1 0]；I3＝[0 0 0 0 0 1]；
According to the method, the UMV with the state time lag phenomenon and the possible faults of various propellers is subjected to adaptive sliding mode fault-tolerant control. According to the first step to the fourth step, the state vector of the UMV time-lag system at the initial moment is e (0) [ -0.1-0.01-0.050.11-0.070.07]T(ii) a The other initial values are mu0(0)＝0.01； γ＝10；γ1i＝1；γ2i＝0.001。
As shown in fig. 2-7, the adaptive sliding mode fault-tolerant control result of the UMV system is shown. FIGS. 2-7 show the state error, the propeller, the slip-form surface, the,Estimated value of beta, estimated value of mu0A response graph of the estimated values of (c). As can be seen from fig. 2-7, the present invention is applicable to the case of state skew of the UMV systemThe state error, the propeller and the sliding mode surface can gradually tend to be stable; after the propeller fails, the state error, the propeller, the sliding mode surface,Estimated value of beta, estimated value of mu0The estimated values of the method all have obvious fluctuation or change, but under the control of the method, the estimated values can tend to be stable in a short time, the response speed is high, and overshoot is small. That is, when the UMV system has a state time lag phenomenon, if the propeller fails, the method of the invention enables the UMV to better reduce the yaw angle error and the amplitude, avoids the occurrence of some accidents and has better navigation quality. Therefore, the adaptive sliding mode fault-tolerant control strategy can better ensure the control accuracy and the safety of the UMV, so that the UMV reaches the expected yaw angle.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. A self-adaptive fault-tolerant control method of a UMV state time-lag system based on a sliding mode technology is characterized by comprising the following steps:
s1, constructing a UMV state time-lag system containing propeller faults and disturbances;
s2, designing a sliding mode surface aiming at the UMV state time-lag system constructed in the step S1;
and S3, designing a sliding mode fault-tolerant controller based on the sliding mode surface designed in the step S2.
S4, designing a self-adaptive mechanism based on the sliding mode fault-tolerant controller designed in the step S3, and completing a self-adaptive sliding mode fault-tolerant control strategy.
2. The adaptive fault-tolerant control method of the UMV state time-lag system based on the sliding-mode technique according to claim 1, wherein the step S1 specifically includes:
s11, defining the state error asWhen the yaw angle is sufficiently small, the UMV systemUnder the transformation of the state error matrix, the UMV state error system is changed
Where η (t) represents a position vector; v (t) represents a velocity vector; phi is aF(t) represents a thrust vector; etarefV and vrefRespectively representing position and velocity errors; representing a disturbance;
s12, establishing a unified propeller fault model (including interruption, time-varying jamming and failure faults), specifically:
φF(t)＝αφ(t)+βφs(t)
s13, in consideration of the fact that the UMV is connected to a remote console via a network and a state skew phenomenon frequently occurs, establishing a UMV state skew system including a state skew and a propeller failure, where the UMV state skew system specifically includes:
wherein, TdIs a matrix of known dimensions; d represents a delay constant; t is t0Represents an initial time; e.g. of the type0Indicating an initial state.
3. The adaptive fault-tolerant control method of the UMV state time-lag system based on the sliding-mode technique according to claim 1, wherein the step S2 specifically includes:
s21, carrying out full rank decomposition on the input matrix:
L＝LvN
wherein L isv∈R6×3；N∈R3×6；
S22, designing a slip form surface, specifically as follows:
wherein M is a parameter matrix to be designed, and satisfies the following matrix inequality:
4. the adaptive fault-tolerant control method of the UMV state time-lag system based on the sliding-mode technique according to claim 1, wherein the sliding-mode fault-tolerant controller is specifically:
wherein,κ＝XM-1；μ0＝1/μ；λN＝λmin(NNT)；andare respectively mu0Beta andan estimated value of (d); ε is a small positive constant.
5. The adaptive fault-tolerant control method of the UMV state time-lag system based on the sliding-mode technique according to claim 1, wherein the adaptive mechanism is specifically:
wherein, gamma and gamma1iAnd gamma2iIs the adaptive gain constant;andare respectively mu00、And betai0；
Definition ofDue to the fact thatAndare both 0, giving:
6. the adaptive fault-tolerant control method for the UMV state-lag system based on the sliding-mode technique according to any one of claims 1-5, wherein said step S4 is followed by further comprising:
s5, carrying out simulation research on a propeller fault model, a disturbed UMV state time-lag system, a sliding mode surface and a sliding mode fault-tolerant controller which adopt the self-adaptive fault-tolerant control scheme of the UMV state time-lag system based on the sliding mode technology, thereby verifying the effectiveness.
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