CN110609556A - Multi-unmanned-boat cooperative control method based on LOS navigation method - Google Patents
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Abstract
A multi-unmanned-boat cooperative control method based on an LOS navigation method comprises the following steps: establishing a basic framework of closed-loop control of the unmanned boats according to the control task needs of the unmanned boats and the information transmission process of the control process; converting a desired target or desired route of an unmanned boat to a desired speed udAnd desired heading angle psid(ii) a By designing a disturbance observer and a sliding mode control algorithm, converting a control instruction into an actual control input quantity, and enabling the unmanned ship to keep an expected course; selecting one unmanned ship as a path tracking reference ship to carry out course path planning on the unmanned ship, and keeping a navigation path consistent with the path tracking reference ship by other unmanned ships; detecting the position, the heading angle, the hull speed and the expected speed u of each unmanned ship in real timedAnd desired heading psidAnd comparing the current sailing speed and the current sailing heading to form a complete closed-loop control. The invention can enable the unmanned ship to run according to an expected air route, keeps the cooperation and consistency of a plurality of unmanned ships, and has the advantages of safety, stability and reliabilityAnd (4) point.
Description
Technical Field
The invention belongs to the technical field of unmanned ship control, and particularly relates to a multi-unmanned ship cooperative control method based on an LOS navigation method.
Background
For a complete unmanned boat system, the required kernel mainly comprises: radar, wireless communication, optical sensing module, motion control system, power actuating mechanism and other independent units. The current development of unmanned boats has two trends, the first is the transition from manual remote control driving to unmanned autonomous driving, and the other is the extension from control of a single unmanned boat to control of unmanned boat formation. Under the great trend that automatic driving gradually replaces manual remote control driving, motion control is taken as an important link, and the motion control mainly comprises the following six research directions:
1) controlling the speed and the course; 2) dynamic positioning control; 3) path tracking; 4) tracking a track; 5) intelligent planning, obstacle avoidance and navigation; 6) multi-agent cooperative formation control, and the like.
In the aspect of controlling the speed and the course of the unmanned ship, a great deal of research and literature achievements are already carried out at home and abroad, wherein the main research methods comprise a PID (proportion integration differentiation) control method, a backstepping method, a sliding mode control theory, a fuzzy control method, an adaptive control method and the like. In future war, it is difficult to adapt to complex battlefield environment only by autonomous operation of a single unmanned ship, and unmanned ship cluster formation with effective cooperative strategy can better complete task. The ship formation formed by the cooperation of multiple ships has multiple advantages of strong fault tolerance, good adaptability, high execution efficiency and the like in the aspects of maritime search and rescue, ocean resource detection and environment monitoring, team cooperative combat and the like. Therefore, necessary research is carried out on the control method of the ship formation to complete effective control of the multi-ship formation, and the method has a wide application range and a wide development prospect in the fields of military national defense, production and transportation and the like.
Fahimi combines a pilot-follower formation method with a sliding mode control theory, and provides two sliding mode control laws of l _ psi and l _ l for controlling the relative positions of ships in the formation. In the control law design process, adverse effects such as motion model parameter change, external environment interference and the like are considered, but the controller can only ensure the motion stability under a smooth curve, and the problem that course oscillation is easy to occur at an inflection point of a following ship is solved, so that the reliability of the controller in practical application is reduced.
Disclosure of Invention
In order to solve the technical problem, the invention provides a multi-unmanned-boat cooperative control method based on an LOS navigation method.
In order to solve the technical problems, the invention adopts the following technical scheme:
a multi-unmanned-boat cooperative control method based on an LOS navigation method comprises the following steps:
s1, establishing a basic framework of closed-loop control of the unmanned ship according to the control task requirement of the unmanned ship and the information transmission process of the control process;
s2, converting the expected target or expected route of the unmanned ship into the expected speed udAnd desired heading angle psid；
S3, converting the control instruction into actual control input quantity by designing a disturbance observer and a sliding mode control algorithm, namely respectively designing the water spraying thrust T and the nozzle angle delta to enable the unmanned ship to keep an expected course;
s4, selecting one unmanned ship as a path tracking reference ship to plan the course path by adopting a cooperative control mode, and keeping the navigation path consistent with the path tracking reference ship by other unmanned ships;
s5, detecting the position, heading angle and hull speed of each unmanned ship in real time, feeding back to step S2, and calculating the expected speed udAnd desired heading psidAnd comparing the current sailing speed and the current sailing heading to form a complete closed-loop control.
The step S1 specifically includes:
set up undirected graph (v)p,εp) Undirected graph (v)p,εp) To represent the communication network between unmanned boats, where vp1, …, p is a finite, non-empty set of nodes,representing edge sets, node i pairsShould unmanned ship i, node j corresponds to unmanned ship j, and edge (i, j) is epsilonpThe unmanned ship i and the unmanned ship j can obtain messages of the other side mutually, the number of the nodes is equal to that of the unmanned ships, one node is determined to be a path tracking reference node, other nodes are communicated with the path tracking reference node respectively, the path tracking reference node corresponds to the path tracking reference ship, and other nodes correspond to other unmanned ships, so that the other unmanned ships can be communicated with the path tracking reference ship in information.
The step S2 specifically includes:
s201, determining a navigation path of the unmanned ship, namely a desired route, and marking on a two-dimensional plane;
s202, given an expected navigational speed, calculating an expected heading angle psi of the unmanned ship at the current position by using an LOS navigation methoddThe method is calculated by adopting the following function:
two adjacent path points are taken out from the navigation path, and are respectively Pk(xk,yk) And Pk+1(xk+1,yk+1) The coordinate of the position of the unmanned ship is (x, y), wherein psirIs the relative angle between the current course and the expected course, e is the transverse tracking error, alphakFor the sailing path azimuth, the error e is positive for the drone on the right side of the desired path and negative for the drone on the left side.
The step S3 specifically includes:
s301, selecting a three-degree-of-freedom unmanned ship motion model, wherein the disturbance function in each degree of freedom is w1、w2And w3Represents;
s302, setting the sailing speed of the unmanned ship to be a constant speed, and keeping the corresponding water spraying thrust T and the corresponding nozzle angle delta to be relatively constant;
s303, the current heading angle of the unmanned ship is the same as the expected heading angle or the error is in a set range by adopting a sliding mode control algorithm.
The step S303 is specifically:
defining the real heading of the unmanned boat as psi and the expected heading as psidThen the corresponding expected heading error isDesigning a first order slip form surface S as follows for heading errors1Wherein the variable of the slip form is represented by lambda, the angular velocity of the turning bow is represented by r, and the transverse navigational speed and the longitudinal navigational speed of the unmanned boat are respectively represented by u and v:
defining the Lyapunov function:
the equal two sides are respectively derived:
wherein the mass coefficient m and the damping coefficient d are known quantities, k1Is the perturbation gain.
Defining the desired nozzle angle as deltadAnd the following conditions are satisfied:
δd＝δ1+δ2
in the formula of1Indicating the nozzle angle, delta, at the desired heading angle2Indicating the nozzle angle as adjusted by the control.
In the formula k2Represents a control parameter; f (S)1) The approximation law function representing the control algorithm, in the present invention, is the saturation function sat (S)1) The mathematical format of the saturation function is:
when S is1>Kappa or S1<- κ is:
let δ become δ ═ δdAnd k is2>|S1|/(4k1) And then:
therefore | S1The value of | will gradually converge to less than k.
when-kappa.ltoreq.S1When kappa is less than or equal to kappa:
when the error of the heading angleAnd when the heading is converged to zero, the control of the expected heading is finished.
The step S4 specifically includes:
a communication topological structure is established among all unmanned boats, and all unmanned boats can be in information communication with a path tracking reference boat, so that the unmanned boats can exchange parameters x of target points in real timeiAnd adjusting the value of the target point according to the value of the neighbor target point to provide a consistency algorithm:
wherein, aijIs a contiguous matrix of an undirected graph.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic view of a travel path of the unmanned boat;
figure 3 is an undirected graph of a plurality of drones.
Detailed Description
For further understanding of the features and technical means of the present invention, as well as the specific objects and functions attained by the present invention, the present invention will be described in further detail with reference to the accompanying drawings and detailed description.
As shown in the attached figures 1-3, the invention discloses a multi-unmanned-boat cooperative control method based on an LOS navigation method, which comprises the following steps:
s1, establishing a basic framework of closed-loop control of the unmanned ship according to the control task requirement of the unmanned ship and the information transmission process of the control process;
s2, converting the expected target or expected route of the unmanned ship into the expected speed udAnd desired heading angle psid；
S3, converting the control instruction into actual control input quantity by designing a disturbance observer and a sliding mode control algorithm, namely respectively designing the water spraying thrust T and the nozzle angle delta to enable the unmanned ship to keep an expected course;
s4, selecting one unmanned ship as a path tracking reference ship to plan the course path by adopting a cooperative control mode, and keeping the navigation path consistent with the path tracking reference ship by other unmanned ships;
s5, detecting the position, heading angle and hull speed of each unmanned ship in real time, feeding back to step S2, and calculating the expected speed udAnd desired heading psidAnd comparing the current sailing speed and the current sailing heading to form a complete closed-loop control.
The step S1 specifically includes:
set up undirected graph (v)p,εp) Undirected graph (v)p,εp) To represent the communication network between unmanned boats, where vp1, …, p is a finite, non-empty set of nodes,representing an edge set, wherein a node i corresponds to an unmanned ship i, a node j corresponds to an unmanned ship j, and an edge (i, j) is epsilonpThe unmanned ship i and the unmanned ship j can obtain messages of the other side mutually, the number of the nodes is equal to that of the unmanned ships, one node is determined to be a path tracking reference node, other nodes are communicated with the path tracking reference node respectively, the path tracking reference node corresponds to the path tracking reference ship, and other nodes correspond to other unmanned ships, so that the other unmanned ships can be communicated with the path tracking reference ship in information.
The step S2 specifically includes:
s201, determining a navigation path of the unmanned ship, namely a desired route, and marking on a two-dimensional plane;
s202, given an expected navigational speed, calculating an expected heading angle psi of the unmanned ship at the current position by using an LOS navigation methoddThe method is calculated by adopting the following function:
two adjacent path points are taken out from the navigation path, and are respectively Pk(xk,yk) And Pk+1(xk+1,yk+1) The coordinate of the position of the unmanned ship is (x, y), wherein psirIs the relative angle between the current course and the expected course, e is the transverse tracking error, alphakFor the sailing path azimuth, the error e is positive for the drone on the right side of the desired path and negative for the drone on the left side.
The step S3 specifically includes:
s301, selecting a three-degree-of-freedom unmanned ship motion model, wherein the disturbance function in each degree of freedom is w1、w2And w3Represents;
s302, setting the sailing speed of the unmanned ship to be a constant speed, and keeping the corresponding water spraying thrust T and the corresponding nozzle angle delta to be relatively constant;
s303, the current heading angle of the unmanned ship is the same as the expected heading angle or the error is in a set range by adopting a sliding mode control algorithm.
5. The LOS navigation-based multi-unmanned-boat cooperative control method according to claim 4, wherein the step S303 specifically comprises:
defining the real heading of the unmanned boat as psi and the expected heading as psidThen the corresponding expected heading error isDesigning a first order slip form surface S as follows for heading errors1Wherein the variable of the slip form is represented by lambda, the angular velocity of the turning bow is represented by r, and the transverse navigational speed and the longitudinal navigational speed of the unmanned boat are respectively represented by u and v:
defining the Lyapunov function:
the equal two sides are respectively derived:
wherein the mass coefficient m and the damping coefficient d are known quantities, k1Is the perturbation gain.
Defining the desired nozzle angle as deltadAnd the following conditions are satisfied:
δd＝δ1+δ2
in the formula of1Indicating the nozzle angle, delta, at the desired heading angle2Indicating the nozzle angle as adjusted by the control.
In the formula k2Represents a control parameter; f (S)1) The approximation law function representing the control algorithm, in the present invention, is the saturation function sat (S)1) The mathematical format of the saturation function is:
when S is1>Kappa or S1<- κ is:
let δ become δ ═ δdAnd k is2>|S1|/(4k1) And then:
therefore | S1The value of | will gradually converge to less than k.
when-kappa.ltoreq.S1When kappa is less than or equal to kappa:
when the error of the heading angleAnd when the heading is converged to zero, the control of the expected heading is finished.
The step S4 specifically includes:
a communication topological structure is established among all unmanned boats, and all unmanned boats can be in information communication with a path tracking reference boat, so that the unmanned boats can exchange parameters x of target points in real timeiAnd adjusting the value of the target point according to the value of the neighbor target point to provide a consistency algorithm:
wherein ai isjIs a contiguous matrix of an undirected graph.
The position, the heading angle, the speed of the boat body and other information of the unmanned boat are acquired through shipborne auxiliary equipment such as a GPS, a compass, a speed sensor and the like, and the information feedback part is not repeated.
Through the navigation control simulation, the conclusion can be drawn: the LOS guiding algorithm disclosed by the invention has a good control effect on curve path tracking. It is important to point out that, the path tracking control method of the present invention, no matter for straight path tracking or curved path tracking, separates the course guiding law from the course control, and under the joint control of two independent computing units, the unmanned ship can smoothly complete the task of path tracking. The method has the advantages that:
1. the control process is visual and easy to understand by dividing the control task into layers, and the performances of the two control units are not affected with each other, so that the method is simple and easy to implement when the controller is debugged;
2. the designed heading guide law is simple in form and small in calculated amount, and conversion and application to real ship path tracking are facilitated.
Although the present invention has been described in detail with reference to the embodiments, it will be apparent to those skilled in the art that modifications, equivalents, improvements, and the like can be made in the technical solutions of the foregoing embodiments or in some of the technical features of the foregoing embodiments, but those modifications, equivalents, improvements, and the like are all within the spirit and principle of the present invention.
Claims (6)
1. A multi-unmanned-boat cooperative control method based on an LOS navigation method comprises the following steps:
s1, establishing a basic framework of closed-loop control of the unmanned ship according to the control task requirement of the unmanned ship and the information transmission process of the control process;
s2, converting the expected target or expected route of the unmanned ship into the expected speed udAnd desired heading angle psid；
S3, converting the control instruction into actual control input quantity by designing a disturbance observer and a sliding mode control algorithm, namely respectively designing the water spraying thrust T and the nozzle angle delta to enable the unmanned ship to keep an expected course;
s4, selecting one unmanned ship as a path tracking reference ship to plan the course path by adopting a cooperative control mode, and keeping the navigation path consistent with the path tracking reference ship by other unmanned ships;
s5, detecting the position, heading angle and hull speed of each unmanned ship in real time, feeding back to step S2, and calculating the expected speed udAnd desired heading psidAnd comparing the current sailing speed and the current sailing heading to form a complete closed-loop control.
2. The LOS navigation-based multi-unmanned-boat cooperative control method according to claim 1, wherein the step S1 specifically comprises:
set up undirected graph (v)p,εp) Undirected graph (v)p,εp) To represent the communication network between unmanned boats, where vp1, …, p is a finite, non-empty set of nodes,representing an edge set, wherein a node i corresponds to an unmanned ship i, a node j corresponds to an unmanned ship j, and an edge (i, j) is epsilonpThe unmanned ship i and the unmanned ship j can obtain messages of the other side mutually, the number of the nodes is equal to that of the unmanned ships, one node is determined to be a path tracking reference node, other nodes are communicated with the path tracking reference node respectively, the path tracking reference node corresponds to the path tracking reference ship, and other nodes correspond to other unmanned ships, so that the other unmanned ships can be communicated with the path tracking reference ship in information.
3. The LOS navigation-based multi-unmanned-boat cooperative control method according to claim 2, wherein the step S2 specifically comprises:
s201, determining a navigation path of the unmanned ship, namely a desired route, and marking on a two-dimensional plane;
s202, given an expected navigational speed, calculating an expected heading angle psi of the unmanned ship at the current position by using an LOS navigation methoddThe method is calculated by adopting the following function:
two adjacent path points are taken out from the navigation path, and are respectively Pk(xk,yk) And Pk+1(xk+1,yk+1) The coordinate of the position of the unmanned ship is (x, y), wherein psirIs the relative angle between the current course and the expected course, e is the transverse tracking error, alphakFor the sailing path azimuth, the error e is positive for the drone on the right side of the desired path and negative for the drone on the left side.
4. The LOS navigation-based multi-unmanned-boat cooperative control method according to claim 3, wherein the step S3 specifically comprises:
s301, selecting a three-degree-of-freedom unmanned ship motion model, wherein the disturbance function in each degree of freedom is w1、w2And w3Represents;
s302, setting the sailing speed of the unmanned ship to be a constant speed, and keeping the corresponding water spraying thrust T and the corresponding nozzle angle delta to be relatively constant;
s303, the current heading angle of the unmanned ship is the same as the expected heading angle or the error is in a set range by adopting a sliding mode control algorithm.
5. The LOS navigation-based multi-unmanned-boat cooperative control method according to claim 4, wherein the step S303 specifically comprises:
defining the real heading of the unmanned boat as psi and the expected heading as psidThen the corresponding expected heading error isDesigning a first-order slip form surface S1 for the heading error, wherein the slip form variable is shown by lambda, the angular speed of turning the bow is shown by r, and the transverse speed and the longitudinal speed of the unmanned boat are respectively shown by u and v:
defining the Lyapunov function:
the equal two sides are respectively derived:
the mass coefficient m and the damping coefficient d used in the formula are known quantities,is the derivative of V, k1Is the perturbation gain;
defining the desired nozzle angle as deltadAnd the following conditions are satisfied:
δd＝δ1+δ2
in the formula of1Indicating the nozzle angle, delta, at the desired heading angle2Indicating the nozzle angle as adjusted by the control.
In the formula k2Represents a control parameter; f (S)1) An approximation law function representing a control algorithm; f (S)1) Set as the saturation function sat (S)1) The mathematical format of the saturation function is:
when S is1>Kappa or S1<- κ is:
let δ become δ ═ δdAnd k is2>|S1|/(4k1) And then:
therefore | S1The | value will gradually converge to less than κ;
when-kappa.ltoreq.S1When kappa is less than or equal to kappa:
when the error of the heading angleAnd when the heading is converged to zero, the control of the expected heading is finished.
6. The LOS navigation-based multi-unmanned-boat cooperative control method according to claim 5, wherein the step S4 specifically comprises:
a communication topological structure is established among all unmanned boats, and all unmanned boats can be in information communication with a path tracking reference boat, so that the unmanned boats can exchange parameters x of target points in real timeiAnd adjusting the value of the target point according to the value of the neighbor target point to provide a consistency algorithm:
wherein,aijis a contiguous matrix of an undirected graph.
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| CN113459089B (en) * | 2021-06-09 | 2022-04-29 | 华中科技大学 | Dynamics coupling effect evaluation method for underwater unmanned ship-double-mechanical-arm operation system |
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Application publication date: 20191224 |