CN111367178B - Self-adaptive control device and method for automatic rudder of ship - Google Patents
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Abstract
The invention provides a self-adaptive control device and a self-adaptive control method for a ship autopilot. The device comprises: the ship basic parameter acquisition module is used for acquiring the current ship basic parameters of a ship; the ship model parameter processing module is used for obtaining ship model parameters to be confirmed according to the ship basic parameters and judging whether the ship model parameters to be confirmed meet preset ship model parameter thresholds or not; the ship observation state parameter calculation module is used for obtaining ship observation state parameters according to the ship model parameters; and the target rudder order calculation module is used for calculating to obtain a target rudder order according to a preset target course, a target steering rate, ship model parameters and ship observation state parameters and sending the target rudder order to the steering engine controller. According to the invention, the target rudder order is calculated by acquiring the current ship basic parameters of the ship, the purpose of spontaneously changing control parameters according to the change of external conditions of the ship navigation is realized, and the optimal control effect on the steering engine can be achieved.
Description
Technical Field
The invention relates to the technical field of ships, in particular to a self-adaptive control device and method for an automatic rudder of a ship.
Background
In the 20 th century, the course autopilot was used for the first time in ship course control, and belongs to the first generation of mechanical autopilots, and although manpower is liberated to a certain extent, course keeping accuracy is poor. In the 50 s of the 20 th century, with the development of electronic computers and the mature industrial application of digital PID control technology (proportional-integral-derivative controller), the PID autopilot in the field of ship heading control dominates for a long time later. The PID autopilot is the current mainstream autopilot scheme, and rudder angle control is carried out by setting course and course errors fed back by an electronic compass so as to achieve the purpose of course control.
The PID autopilot is error-based control and is a passive error correction, the number of times of steering is excessive in order to correct a small error, and a method of increasing a control dead zone on the basis of the PID autopilot is generally adopted in order to reduce the number of times of steering. This method often causes yaw, and it is difficult to effectively reduce the number of times of rudder striking, and the PID control method cannot achieve optimal control. In addition, the setting of the PID coefficient is generally set by a trial and error method through manual observation of the control effect. As the operating point of the course model linearization is indexed by the navigational speed, the PID coefficient needs to be set under different navigational speeds, and the workload is large. In addition, because most of the parameters of the autopilot are solidified when leaving the factory, when the navigation state (such as wind, wave, surge, navigational speed, loading capacity and the like) of the ship is changed, the PID autopilot cannot be automatically adjusted, the course keeping effect is deteriorated to a certain extent, a large S-turn of the course advances, the navigation distance is increased, the oil consumption of the main engine is increased, the abrasion of the steering engine is aggravated, and the like, and even the navigation safety is threatened.
Disclosure of Invention
In view of the above problems, the present invention provides an adaptive control device and method for a ship autopilot, so as to solve the problem that in the prior art, the autopilot cannot autonomously adjust control parameters under the condition that external conditions such as sea conditions change.
In one aspect of the present invention, there is provided an adaptive control apparatus for a rudder of a ship, including:
the ship basic parameter acquisition module is used for acquiring the current ship basic parameters of the ship and sending the current ship basic parameters to the ship model parameter processing module;
the ship model parameter processing module is used for receiving ship basic parameters, obtaining ship model to-be-confirmed parameters according to the ship basic parameters, judging whether the ship model to-be-confirmed parameters meet preset ship model parameter thresholds or not, and if the ship model to-be-confirmed parameters meet the preset ship model parameter thresholds, sending the ship model to-be-confirmed parameters serving as ship model parameters to the ship observation state parameter calculation module;
the ship observation state parameter calculation module is used for receiving the ship model parameters, obtaining ship observation state parameters according to the ship model parameters, and sending the ship model parameters and the ship observation state parameters to the target rudder order calculation module;
and the target helm calculation module is used for receiving the ship model parameters and the ship observation state parameters, calculating according to the preset target course, the target steering rate, the ship model parameters and the ship observation state parameters to obtain a target helm, and sending the target helm to the steering engine controller.
Further, the ship model parameter processing module calculates the parameters to be confirmed of the ship model by using a least square method.
Further, the ship basic parameters include:
the compass sends course parameters to a ship basic parameter acquisition module;
and (4) rudder angle parameters sent by a rudder angle feedback module.
Further, the ship model to-be-confirmed parameters obtained by the ship model parameter processing module comprise a ship gyration index, a ship tracking index and a transverse moving speed index.
Further, the ship model parameter processing module obtains the parameters to be confirmed of the ship model by using the following formula:
wherein T is a ship tracking index, K is a ship turning index, r is a ship steering rate, delta is a rudder angle, kv is a transverse moving speed index, V is a transverse moving speed,
for the input data vector, y (k) is the output vector of the system,
for the estimated value of the parameter vector to be estimated, λ is a forgetting factor, and K (K) and P (K) are intermediate calculation matrices.
Further, the ship observation state parameter calculation module calculates the ship observation state parameters by using the following formula:
wherein,
representing the state vector estimated by the observer, Y representing the vessel heading angle signal,
and expressing a heading angle signal estimated by an observer, G expressing a gain matrix, u expressing a model control quantity, and A, B and C expressing a coefficient matrix of a state space equation.
In a second aspect of the present invention, there is provided an adaptive control method for a ship autopilot based on the apparatus as described above, comprising the steps of:
s1, collecting current ship basic parameters of a ship;
s2, obtaining a ship model to-be-confirmed parameter according to the ship basic parameter, judging whether the ship model to-be-confirmed parameter meets a preset ship model parameter threshold value, and if so, sending the ship model to-be-confirmed parameter as a ship model parameter;
s3, obtaining ship observation state parameters according to the ship model parameters;
and S4, calculating according to the preset target course, the target steering rate, the ship model parameters and the ship observation state parameters to obtain a target rudder order, and sending the target rudder order to the steering engine controller.
Further, in step S2, a least square method is used to calculate the parameters to be confirmed of the ship model.
Compared with the prior art, the self-adaptive control device and the method for the automatic rudder of the ship provided by the invention have the following steps:
according to the invention, the target rudder order is calculated by collecting the current ship basic parameters of the ship, the control parameters can be changed spontaneously according to the change of the external conditions of the ship in navigation, the optimal control effect on the steering engine is achieved, the S-curve radian in the navigation process can be effectively reduced, the length of a navigation line is reduced, and the oil consumption of the ship is reduced.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a device connection block diagram of an adaptive control device for a ship autopilot according to an embodiment of the invention;
fig. 2 is a step diagram of an adaptive control method for an autopilot of a ship according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The embodiment of the invention provides a self-adaptive control device and a self-adaptive control method for a ship autopilot.
Fig. 1 schematically shows a block diagram of the connection of components of an adaptive control device for a rudder of a ship according to the present embodiment. Referring to fig. 1, the adaptive control device for a rudder of a ship according to the present embodiment includes:
the ship basic parameter acquisition module is used for acquiring the current ship basic parameters of the ship and sending the current ship basic parameters to the ship model parameter processing module;
the ship model parameter processing module is used for receiving ship basic parameters, obtaining ship model to-be-confirmed parameters according to the ship basic parameters, judging whether the ship model to-be-confirmed parameters meet preset ship model parameter thresholds or not, and if the ship model to-be-confirmed parameters meet the preset ship model parameter thresholds, sending the ship model to-be-confirmed parameters serving as ship model parameters to the ship observation state parameter calculation module;
the ship observation state parameter calculation module is used for receiving the ship model parameters, obtaining ship observation state parameters according to the ship model parameters, and sending the ship model parameters and the ship observation state parameters to the target rudder order calculation module;
and the target helm calculating module is used for receiving the ship model parameters and the ship observation state parameters, calculating according to the preset target course, the target steering rate, the ship model parameters and the ship observation state parameters to obtain a target helm, and sending the target helm to the steering engine controller.
The self-adaptive control device of the ship autopilot calculates the target rudder order by acquiring the current ship basic parameters of the ship, and can automatically change control parameters according to the change of the external conditions of the ship navigation, thereby achieving the optimal control effect. The method has the advantage of high course keeping precision, and can effectively reduce the S-curve radian in the navigation process, reduce the length of a navigation line and reduce the oil consumption of a ship. Moreover, invalid steering is avoided as much as possible, and the abrasion of the steering engine is effectively reduced.
In specific implementation, the ship model parameter processing module calculates the parameters to be confirmed of the ship model by using a least square method. The parameters to be confirmed of the ship model are calculated by using the least square method, so that the complexity of the calculation process is reduced, and the parameters to be confirmed of the ship model can be calculated more quickly and accurately.
In specific implementation, the ship basic parameters include:
the compass sends course parameters to a ship basic parameter acquisition module;
and the rudder angle feedback module sends the rudder angle parameters.
The course parameter and the rudder angle parameter are basic parameters when the ship navigates, the acquisition is simpler, and the final calculation is convenient to obtain more accurate target rudder orders.
In specific implementation, the ship model to-be-confirmed parameters obtained by the ship model parameter processing module comprise a ship gyration index, a ship tracking index and a transverse moving speed index.
In specific implementation, the ship model parameter processing module obtains the parameters to be confirmed of the ship model by using the following formula:
wherein T is a ship tracking index, K is a ship turning index, r is a ship steering rate, delta is a rudder angle, kv is a transverse moving velocity index, V is a transverse moving velocity,
for the input data vector, y (k) is the output vector of the system,
for the estimated value of the parameter vector to be estimated, λ is a forgetting factor, and K (K) and P (K) are intermediate calculation matrices.
In specific implementation, the ship observation state parameter calculation module calculates the ship observation state parameter by using the following formula:
wherein,
representing the state vector estimated by the observer, Y representing the vessel heading angle signal,
and representing a heading angle signal estimated by an observer, G representing a gain matrix, u representing a model control quantity, and A, B and C representing coefficient matrixes of a state space equation.
Fig. 2 schematically shows a step diagram of an adaptive control method of a rudder of a ship according to the present embodiment. Referring to fig. 2, the adaptive control method for a ship autopilot of the present embodiment includes the following steps:
s1, collecting current ship basic parameters of a ship;
s2, obtaining a ship model to-be-confirmed parameter according to the ship basic parameter, judging whether the ship model to-be-confirmed parameter meets a preset ship model parameter threshold value, and if so, sending the ship model to-be-confirmed parameter as a ship model parameter;
s3, obtaining ship observation state parameters according to the ship model parameters;
and S4, calculating according to a preset target course, a target steering rate, ship model parameters and ship observation state parameters to obtain a target rudder order, and sending the target rudder order to the steering engine controller.
In specific implementation, the parameters to be confirmed of the ship model are calculated by using a least square method in the step S2. The parameters to be confirmed of the ship model are obtained by calculation through the least square method, so that the complexity of the calculation process is reduced, and the parameters to be confirmed of the ship model can be calculated more quickly and accurately.
In specific implementation, the ship basic parameters include:
the compass sends the course parameters to a ship basic parameter acquisition module;
and (4) rudder angle parameters sent by a rudder angle feedback module.
The course parameter and the rudder angle parameter are basic parameters when the ship navigates, the acquisition is simpler, and the final calculation is facilitated to obtain a more accurate target rudder order.
In specific implementation, the parameters to be confirmed of the ship model comprise a ship turning index, a ship tracking index and a transverse moving speed index.
A specific working example of the adaptive control method for the autopilot of the ship of the present embodiment is as follows: the electric compass, namely the gyrocompass, can output information related to course such as rudder angle, steering rate and the like, so that the ship basic parameter acquisition module is electrically connected with the electric compass and can receive course parameters sent by the electric compass in real time; the rudder angle feedback module is composed of a mechanical part connected to a rudder page shaft and a circuit board for collecting angles, and each ship is provided with at least two sets of the device, so that the ship basic parameter collection module is electrically connected with the rudder angle feedback module and can receive rudder angle parameters sent by the rudder angle feedback module in real time; and the ship basic parameter acquisition module receives the current ship basic parameters (such as course parameters and rudder angle parameters) of the ship in real time and sends the current ship basic parameters to the ship model parameter processing module. The parameters to be confirmed of the ship model (ship model) can slowly change along with sea conditions such as wind, wave, current, surge, navigational speed, loading capacity and the like, the parameters to be confirmed of the ship model are identified and judged by using a least square method according to preset input and output state parameters, and the specific process is as follows:
according to a first-order nonlinear ship model:
wherein T is a ship tracking index, K is a ship gyration index, r is a ship steering rate, delta is a rudder angle, kv is a traverse speed index, V is a traverse speed, and a longitudinal, transverse and course model given in IEC62065 is input, and parameters such as the rudder angle delta, the ship steering rate r, the ship transverse and longitudinal water-facing speed, the bow stability coefficient and the ship length are fed back; identifying three parameters, namely K, T and Kv, by using a least square method with forgetting factors:
wherein,
for the input data vector, y (k) is the output vector of the system,
for the estimated value of the parameter vector to be estimated, λ is a forgetting factor, and K (K) and P (K) are intermediate calculation matrices.
The main function of the ship observation state parameter calculation module is to estimate system parameters which cannot be directly measured in the system according to output signals and control signals of the system to be measured. Establishing a state space equation of the extended state observer as follows:
wherein,
representing the state vector estimated by the observer, Y representing the vessel heading angle signal,
and representing a heading angle signal estimated by an observer, G representing a gain matrix, u representing a model control quantity, and A, B and C representing coefficient matrixes of a state space equation.
From the state error vector
Differential equation of calculation error
If the error vector E is made asymptotically stable, the eigenroots of the matrix (A-GC) should have all negative real parts. The feedback gain matrix G of the state observer can be reversely calculated through an empirical characteristic root value by a pole allocation method, and then the observed state quantity is obtained, wherein the observed state quantity is respectively rudder angle static error noise differential, course angle differential, steering rate differential and sea wave interference quantity.
The optimal control theory is to optimize the state quantity and the controlled quantity and realize the optimal control of the controlled object according to a specific performance index function. The target helm calculation module calculates the target helm to obtain the following process:
establishing a state space expression:
wherein X represents a state vector, X = (r ψ δ), and u is a control amount, and represents a command rudder speed of a ship; c and D represent coefficient matrixes related to ship mathematical models
The performance indexes are set as follows:
q is a third-order square matrix, three elements on the main diagonal line represent weighting coefficients, and the larger the coefficient is, the more ideal the optimization effect of the corresponding state vector is. R represents a weighting coefficient of the control output quantity, the corresponding steering speed corresponds to the control output quantity, and the larger R represents that the steering process is smoother and the steering performance is good.
When the performance function J takes a minimum value, the following control instructions are correspondingly obtained:
u＝-R -1 B′Pe
p can be obtained by solving the ricati equation.
According to u = (k 1, k2, k 3)' e,
and obtaining rudder angle increment after integration:
accumulating the rudder angle increment to form a rudder order delta + = theta;
and the target rudder command is a steering command issued to the steering engine, is sent to the steering engine controller, is controlled to be executed by the steering engine controller, and controls the ship to be stabilized at the target course.
The improvements in the above device embodiments also belong to the improvements in the method embodiments, and are not described in detail in the method embodiments.
For simplicity of explanation, the method embodiments are described as a series of acts or combinations, but those skilled in the art will appreciate that the embodiments are not limited by the order of acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the embodiments of the invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. An adaptive control apparatus for a rudder of a ship, comprising:
the ship basic parameter acquisition module is used for acquiring the current ship basic parameters of the ship and sending the current ship basic parameters to the ship model parameter processing module;
the ship model parameter processing module is used for receiving ship basic parameters, obtaining ship model to-be-confirmed parameters according to the ship basic parameters, judging whether the ship model to-be-confirmed parameters meet preset ship model parameter thresholds or not, and if the ship model to-be-confirmed parameters meet the preset ship model parameter thresholds, sending the ship model to-be-confirmed parameters serving as ship model parameters to the ship observation state parameter calculation module;
the ship observation state parameter calculation module is used for receiving the ship model parameters, obtaining ship observation state parameters according to the ship model parameters, and sending the ship model parameters and the ship observation state parameters to the target rudder order calculation module;
the target helm calculating module is used for receiving the ship model parameters and the ship observation state parameters, calculating according to the preset target course, the target steering rate, the ship model parameters and the ship observation state parameters to obtain a target helm, and sending the target helm to the steering engine controller;
the ship observation state parameter calculation module calculates the ship observation state parameters by using the following formula:
wherein,
representing the state vector estimated by the observer, Y representing the vessel heading angle signal,
representing a heading angle signal estimated by an observer, G representing a gain matrix, u representing a model control quantity, and A, B and C representing coefficient matrixes of a state space equation;
the target helm calculation module calculates the target helm to obtain the following process:
establishing a state space expression:
wherein X represents a state vector, the state vector X = (r ψ δ), and u is a control variable, and represents a commanded rudder speed of a ship; c and D represent coefficient matrixes related to ship mathematical models
The performance indexes are set as follows:
q is a third-order square matrix, three elements on the main diagonal line represent weighting coefficients, and R represents the weighting coefficient for controlling output quantity;
when the performance function J takes a minimum value, the following control instructions are correspondingly obtained:
u＝-R -1 B ′ Pe
wherein, P can be obtained by solving the Riccati equation;
according to u = (K1, K2, K3) ′ e，
And (3) obtaining rudder angle increment after integration:
accumulating rudder angle increments to form a helm:
2. the adaptive control device for the rudder of a ship according to claim 1, wherein the model parameter processing module calculates the parameters to be confirmed of the model using a least square method.
3. The adaptive control apparatus for a rudder of a ship according to claim 2, wherein the ship base parameters include:
the compass sends course parameters to a ship basic parameter acquisition module;
and the rudder angle feedback module sends the rudder angle parameters.
4. The adaptive control apparatus for a rudder of a ship of claim 3, wherein the parameters to be confirmed of the ship model obtained by the model parameter processing module include a ship turning index, a ship following index, and a traversing speed index.
5. The adaptive control apparatus for a rudder of a ship according to claim 4, wherein the model parameter processing module obtains the model parameter to be confirmed using the following formula:
wherein T is a ship tracking index, K is a ship turning index, r is a ship steering rate, delta is a rudder angle, and Kv is a sideslip speedDegree index, V is the traversing speed,
for the input data vector, y (k) is the output vector of the system,
for the estimated value of the parameter vector to be estimated, λ is a forgetting factor, and K (K) and P (K) are intermediate calculation matrices.
6. An adaptive control method for a ship autopilot based on the device of claim 1, characterized by comprising the following steps:
s1, collecting current ship basic parameters of a ship;
s2, obtaining a ship model to-be-confirmed parameter according to the ship basic parameter, judging whether the ship model to-be-confirmed parameter meets a preset ship model parameter threshold value, and if so, sending the ship model to-be-confirmed parameter as a ship model parameter;
s3, obtaining ship observation state parameters according to the ship model parameters;
and S4, calculating according to the preset target course, the target steering rate, the ship model parameters and the ship observation state parameters to obtain a target rudder order, and sending the target rudder order to the steering engine controller.
7. The adaptive control method for an automatic rudder of a ship according to claim 6, wherein the parameters to be confirmed of the ship model are calculated in step S2 by using a least square method.
8. The adaptive control method of a rudder of a ship of claim 7, wherein the ship base parameters include:
the compass sends course parameters to a ship basic parameter acquisition module;
and the rudder angle feedback module sends the rudder angle parameters.
9. The adaptive control method of a rudder of a ship of claim 8, wherein the parameters to be confirmed of the model of the ship include a ship turning performance index, a ship following performance index, and a traversing speed index.
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