CN110515387A - A kind of above water craft drift angle compensating non-linear course heading control method - Google Patents
A kind of above water craft drift angle compensating non-linear course heading control method Download PDFInfo
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- CN110515387A CN110515387A CN201910908132.7A CN201910908132A CN110515387A CN 110515387 A CN110515387 A CN 110515387A CN 201910908132 A CN201910908132 A CN 201910908132A CN 110515387 A CN110515387 A CN 110515387A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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Abstract
The invention discloses a kind of above water craft drift angle compensating non-linear course heading control method, the method is included at least: step 1: establishing the above water craft Heading control state space nonlinear model of drift angle compensation；Step 2: obtaining smooth command heading angle and its derivative；Step 3: obtaining course angular error signal；Step 4: based on Nussbaum gain method and self-adaptation control method design Heading control rule；Step 5: judging whether Heading control effect is satisfied with, the finishing control if "Yes", more new state return step 3 recalculates Heading control signal if "No".
Description
Technical field
The present invention relates to ship motion controller fields, control more particularly to a kind of above water craft drift angle compensating non-linear course
Method processed.
Technical background
Ship rides the sea and unavoidably generates six degree of freedom oscillating motion, and yawing campaign determines that ship course keeps essence
Degree, course are the major issues in marine navigation and control engineering.It is to hold with autopilot to guarantee that naval vessel smoothly reaches the destination
The course control system of row mechanism is that water surface routine naval vessel must be installed.The Heading control of above water craft includes that course is kept
Control and course changing control, the ship yawing campaign under level coordinates system is as shown in Figure 1.Ship steering campaign produces stem first
A raw small lateral drift angle β (usually less than 5 °) changes hull two sides fluid distrbution state, and then by the hydrodynamic(al) of hull two sides
The divertical motion of hull is realized in power effect.Current ship course keeping control algorithm substantially ignores the effect of this drift angle, using course
Deviation is ψe=ψ-ψdForm, but the presence of the drift angle will increase course overshoot reduce Heading control precision, it is therefore desirable into
Row compensation.On the other hand, the most Heading control model of application is first-order linear Nomoto model at present, which is suitble to course
Control is kept, but needs to consider high-order nonlinear condition for course changing control.Meanwhile hull is disturbed by the time-varying of wave and is made
With the problems such as certainly existing model Dynamic Uncertain (Unmarried pregnancy) and parameter time varying, these problems are required to non-linear control
Method processed goes to solve.
Summary of the invention
The present invention solves the technical problem of: overcome the deficiencies in the prior art proposes that a kind of above water craft drift angle is mended
Non-linear course heading control method is repaid, solves the drift angle compensation in ship course keeping control, model Dynamic Uncertain and parameter time varying are asked
Topic.
The solution that technology of the invention provides is: a kind of above water craft drift angle compensating non-linear course heading control method,
Specific steps include:
Step 1: being based on single order drift angle model and second nonlinear Nomoto model, establish the above water craft boat of drift angle compensation
To state of a control Space Nonlinear model；
Above water craft Heading control state space nonlinear model in step 1 is indicated by following formula:
Wherein: system mode is defined as, x1=ψ indicates course angle, x2=β represents drift angle,Represent course angle speed
Degree,Represent course angular acceleration.ΔβUncertain for drift angle model, f (x) is that (dynamic is not true for system Unmarried pregnancy
It is fixed), w is the disturbance of external time-varying, and g (t) is time-varying control coefficient, and u is system control signal, c1And c2For the drift angle mould of normal number
Shape parameter nominal value.
Step 2: utilizing command heading angle ψrSmooth command heading angle ψ is obtained by prefilterdAnd its derivative
Prefilter in step 2 is calculated using following formula:
Wherein: ξ is filter damping, and ω is filter frequencies, ψrIt is target course.
Step 3: according to step 1 and step 2 acquisition instructions course angle ψd, course angle ψ and drift angle signal beta simultaneously obtain course angle
Error signal ψe(t)=ψ-ψd+β；
Step 4: based on Nussbaum gain method and self-adaptation control method design Heading control rule, Heading control letter
Number u (t) is come about by Rudder Servo System driving and final realizes Heading control；
Heading control signal in step 4 is indicated by following formula:
Wherein: N (ζ) is Nussbaum function, z2=x3-α1And z3=x4-α2For virtual error signal, k3Just for design
Constant,For the estimation of system Unmarried pregnancy (Dynamic Uncertain),For the estimation of external time-varying perturbating upper bound,
For dummy pilot signal α2Derivative.
Control law dummy pilot signal α1And α2It is calculated respectively by following formula:
Wherein: k1And k2For the normal number of design, z1=ψe=x1-ψd+x2For course error signal,Not for drift angle model
Determining estimation.
Step 5: judge whether Heading control effect is satisfied with, the finishing control if "Yes", the more new state if "No"
Return step 3 recalculates Heading control signal.
The beneficial effects of the present invention are: correcting non-linear course model and based on Nussbaum gain by establishing drift angle
Self-adaptation control method realizes the Heading control of drift angle compensation, effectively reduces orientation tracking steady-state error and course is kept under control
Steering command signal, while the present invention is without the specific modeling information of non-linear partial in model and the priori letter of time-varying parameter
Breath, can be improved the robustness of water surface ship course keeping control under severe sea condition.
Detailed description of the invention
Fig. 1 is above water craft yawing kinetic coordinate system schematic diagram；
Fig. 2 is course control system architecture figure in the present invention；
Fig. 3 is a kind of above water craft drift angle compensating non-linear course heading control method flow chart provided by the invention.
Specific embodiment
The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawing, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art.
If Fig. 2 is that course control system architecture figure, Fig. 3 are that a kind of above water craft drift angle provided by the invention is mended in the present invention
Repay non-linear course heading control method flow chart, a kind of above water craft drift angle compensating non-linear course heading control method disclosed by the invention
It is implemented as follows:
Step 1: being based on single order drift angle model and second nonlinear Nomoto model, establish the above water craft boat of drift angle compensation
To state of a control Space Nonlinear model；
Second nonlinear Nomoto model is following formula (1) form:
Wherein: ψ is course angle, and δ is rudder angle, a1,a2,a3,b1And b2Specific value for model parameter, model parameter can root
It determines or estimates according to selected specific ship.
Single order drift angle model is following formula (2) form:
Wherein:For bounded model it is uncertain (i.e. | Δβ|≤ΔβmaxAnd ΔβmaxBe it is unknown just
Constant), c1And c2It is model nominal value and meets 0 < c11,0 < c of <2< 1, specific value can be according to tank experiment or systems
The method of identification is estimated.
According to formula (1) and formula (2), the above water craft Heading control state space nonlinear model based on drift angle compensation
It is indicated by following formula (3):
Wherein: system mode is defined as, x1=ψ indicates course angle, x2=β represents drift angle,Represent course angle speed
Degree,Represent course angular acceleration.For system Unmarried pregnancy (Dynamic Uncertain), w
For the disturbance of external time-varying, g (t)=b1For time-varying control coefficient.For system control signal, that is, it is input to steering engine
Servo-systemControl signal and export rudder angle.
Step 2: utilizing command heading angle ψrSmooth command heading angle ψ is obtained by prefilterdAnd its derivative
Prefilter is calculated using following formula (4):
Wherein: ξ is filter damping, and ω is filter frequencies, ψrIt is target course.
Step 3: according to step 1 and step 2 acquisition instructions course angle ψd, course angle ψ and drift angle signal beta simultaneously obtain course angle
Error signal ψe(t)=ψ-ψd+β；
Step 4: based on Nussbaum gain method and self-adaptation control method design Heading control rule, Heading control letter
Number u (t) is come about by Rudder Servo System driving and final realizes Heading control；
Heading control signal is indicated by following formula:
Wherein: N (ζ) is that Nussbaum function can voluntarily be chosen as needed, the document that sees reference " Ye, X., Jiang,
J.Adaptive nonlinear design without a priori knowledge of control
Directions.IEEE Transactions on Automatic Control, 1998,43 (11): 1617-1621. ", z2
=3x-1α and z3=x4-α2For virtual error signal, k3For the normal number of design,For system Unmarried pregnancy, (dynamic is not true
Estimation calmly),For the estimation of external time-varying perturbating upper bound,For dummy pilot signal α2Derivative.
Dummy pilot signal α in Heading control rule (5) and (6)1And α2It is calculated respectively by following formula:
Wherein: k1And k2For the normal number of design, z1=ψe=x1-ψd+x2For course error signal,Not for drift angle model
Determining estimation.
The uncertain estimation of drift angle modelThe estimation of system Unmarried pregnancyWith external time-varying perturbating upper bound
EstimationIt can be calculated using suitable adaptive approach, or be calculated using following adaptive law as needed:
Wherein: aβ, σβ, af, σf, awAnd σwFor the normal number of design,For the first of external time-varying perturbating upper bound estimation
Value.
Step 5: judge whether Heading control effect is satisfied with, the finishing control if "Yes", the more new state if "No"
Return step 3 recalculates Heading control signal.
The beneficial effects of the present invention are: correcting non-linear course model and based on Nussbaum gain by establishing drift angle
Self-adaptation control method realizes the Heading control of drift angle compensation, effectively reduces orientation tracking steady-state error and course is kept under control
Steering command signal, while the present invention is without the specific modeling information of non-linear partial in model and the priori letter of time-varying parameter
Breath, can be improved the robustness of water surface ship course keeping control under severe sea condition.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (4)
1. a kind of above water craft drift angle compensating non-linear course heading control method, it is characterised in that the following steps are included:
Step 1: being based on single order drift angle model and second nonlinear Nomoto model, establish the above water craft course control of drift angle compensation
State space nonlinear model processed；
Step 2: utilizing command heading angle ψrSmooth command heading angle ψ is obtained by prefilterdAnd its derivative
Step 3: according to step 1 and step 2 acquisition instructions course angle ψd, course angle ψ and drift angle signal beta simultaneously obtain course angle error
Signal ψe(t)=ψ-ψd+β；
Step 4: based on Nussbaum gain method and self-adaptation control method design Heading control rule, Heading control signal u
(t) it is come about by Rudder Servo System driving and finally realizes Heading control；
Step 5: judging whether Heading control effect is satisfied with, the finishing control if "Yes", more new state returns if "No"
Step 3 recalculates Heading control signal.
2. a kind of above water craft drift angle compensating non-linear course heading control method according to claim 1, it is characterised in that: step
Above water craft Heading control state space nonlinear model in rapid 1 is indicated by following formula:
Wherein: system mode is defined as, x1=ψ indicates course angle, x2=β represents drift angle,Course angular speed is represented,Represent course angular acceleration.ΔβUncertain for drift angle model, f (x) is system Unmarried pregnancy (Dynamic Uncertain), w
For the disturbance of external time-varying, g (t) is time-varying control coefficient, and u is system control signal, c1And c2For the drift angle model parameter of normal number
Nominal value.
3. a kind of above water craft drift angle compensating non-linear course heading control method according to claim 1, it is characterised in that: step
Prefilter in rapid 2 is calculated using following formula:
Wherein: ξ is filter damping, and ω is filter frequencies, ψrIt is target course.
4. a kind of above water craft drift angle compensating non-linear course heading control method according to claim 1, it is characterised in that: step
Heading control signal in rapid 4 is indicated by following formula:
Wherein: N (ζ) is Nussbaum function, z2=x3-α1And z3=x4-α2For virtual error signal, k3For the normal number of design,For the estimation of system Unmarried pregnancy (Dynamic Uncertain),For the estimation of external time-varying perturbating upper bound,It is virtual
Control signal alpha2Derivative.
Control law dummy pilot signal α1And α2It is calculated respectively by following formula:
Wherein: k1And k2For the normal number of design, z1=ψe=x1-ψd+x2,For the uncertain estimation of drift angle model.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112230666A (en) * | 2020-10-30 | 2021-01-15 | 上海海事大学 | Drift angle correction course control method based on self-adaptive extended state observer |
| CN112685974A (en) * | 2020-12-31 | 2021-04-20 | 哈尔滨工程大学 | Ship parameter identification method based on CFD |
| CN113296517A (en) * | 2021-05-25 | 2021-08-24 | 上海海事大学 | Ship course dynamic surface sliding mode control method based on drift angle compensation |
| CN112230666B (en) * | 2020-10-30 | 2024-06-07 | 上海海事大学 | Drift angle correction course control method based on self-adaptive extended state observer |
-
2019
- 2019-09-25 CN CN201910908132.7A patent/CN110515387A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112230666A (en) * | 2020-10-30 | 2021-01-15 | 上海海事大学 | Drift angle correction course control method based on self-adaptive extended state observer |
| CN112230666B (en) * | 2020-10-30 | 2024-06-07 | 上海海事大学 | Drift angle correction course control method based on self-adaptive extended state observer |
| CN112685974A (en) * | 2020-12-31 | 2021-04-20 | 哈尔滨工程大学 | Ship parameter identification method based on CFD |
| CN113296517A (en) * | 2021-05-25 | 2021-08-24 | 上海海事大学 | Ship course dynamic surface sliding mode control method based on drift angle compensation |
| CN113296517B (en) * | 2021-05-25 | 2023-03-24 | 上海海事大学 | Ship course dynamic surface sliding mode control method based on drift angle compensation |
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