CN112230550B - Track tracking appointed time convergence control system of under-driven ship - Google Patents
Track tracking appointed time convergence control system of under-driven ship Download PDFInfo
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- CN112230550B CN112230550B CN202011178981.0A CN202011178981A CN112230550B CN 112230550 B CN112230550 B CN 112230550B CN 202011178981 A CN202011178981 A CN 202011178981A CN 112230550 B CN112230550 B CN 112230550B
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Abstract
The invention provides a track tracking appointed time convergence control system of an underdriven ship, which comprises a guiding system, coordinate transformation, an expected speed vector, ship dynamics, the underdriven ship, a speed sensor, a pose sensor, a controller, a differentiator, an integrator, a differentiator, a speed error vector and auxiliary variables, wherein the speed error vector is used for controlling the speed of the ship; the position error is obtained according to the difference value between the actual position and the attitude information given by the guiding system of the under-actuated ship, the expected speed vector is generated by a differentiator based on the position and the attitude error after coordinate transformation, the update law of the auxiliary variable is generated by partial information of the controller, the speed error vector is the speed of the under-actuated ship, the difference value between the expected speed vector and the auxiliary variable is calculated by the controller, and the final control instruction is transmitted to an executing mechanism of the ship, so that the position, the heading and the speed of the under-actuated ship are adjusted, and the expected track is reached. The convergence time of the system of the invention can be set and is independent of any parameters of the controller and the system state.
Description
Technical Field
The invention relates to a track tracking appointed time convergence control system, in particular to a track tracking appointed time convergence control system of an underdriven ship.
Background
Over the last several decades, the widespread use of underdriven vessels in civilian and military applications has attracted attention from control field specialists. Because underdriven vessels are very common in practical vessels, driving such vehicles along a desired path and at a desired forward speed has become a critical issue in marine engineering.
Most of the literature designs of controllers that guarantee only gradual convergence when designing trajectory tracking controllers, which means that the determination of the trajectory tracking error convergence time may be infinite. On the other hand, improving the robustness and response speed of the system has very important significance in practical application. In order to improve the response speed of the system, a controller capable of realizing the specified convergence time is designed, and the convergence time can be set manually.
Chinese patent CN108267952B proposes an adaptive finite time control method for underwater robots, which designs an adaptive finite time controller based on an extended state observer. The difference with the method is that the controller of the patent ensures that the convergence time is independent of the initial state of the system, and realizes the convergence of the control system in the appointed time.
Disclosure of Invention
The invention aims to provide a track tracking appointed time convergence control system of an under-actuated ship, which considers input saturation and rate limitation of an actuating mechanism.
The purpose of the invention is realized in the following way:
the track tracking appointed time convergence control system of the under-driven ship comprises a guiding system 1, a coordinate transformation 2, an expected speed vector 3, a ship dynamic 4, the under-driven ship 5, a speed sensor 6, a pose sensor 7, a controller 8, a first differentiator 9, an integrator 10, a second differentiator 11, a speed error vector 12 and an auxiliary variable 13;
1) The guiding system 1 is characterized in that a virtual ship generates a desired track, so that desired pose and desired speed of the ship at each moment are obtained, a pose sensor 7 collects actual pose information of the ship and transmits the actual pose information to a coordinate transformation 2, the coordinate transformation 2 transforms errors of desired values and actual values into a ship coordinate system and then transmits the obtained errors to a second differentiator 11, the differential values obtained by the second differentiator 11, the pose information of the pose sensor 7 and the information output by the coordinate transformation 2 obtain a desired speed vector 3, the difference value between the output information of the speed sensor 6 and an auxiliary variable 13 obtains a speed error vector 12, the auxiliary variable update law output by the controller 8 obtains the auxiliary variable 13 through an integrator 10, the differential values obtained by the speed error vector 12 and the desired speed vector 3 through a first differentiator 9, the ship dynamic 4, the information junction output by the coordinate transformation 2 and the speed information obtained by the speed sensor 6 form a controller 8, the controller 8 obtains a final control instruction, and the differential control of the ship is transmitted to an executing mechanism of the ship, and the error of the ship is accurately controlled by adjusting the longitudinal thrust and rudder angle of the ship, so that the tracking time is accurately appointed;
2, the guiding system 1 generates corresponding tracks by virtual ships with the same parameters, so that tracks on the under-actuated ship can be tracked, expected pose information is given in real time, and finally, the under-actuated ship is stably stabilized at an expected position in an expected heading; the obtained expected pose and speed are transmitted to a control system, and the controller 8 calculates a control instruction through the information;
3 the auxiliary variable 13 is used for solving the underdrive problem, and the introduction of the auxiliary variable 13 realizes the derivation of the controller by a full-drive ship method, so that the design of the controller is simplified;
4, in the design of the controller, the information of the ship dynamic 4 is assumed, the output information of the pose sensor 7 and the output information of the speed sensor 6 can be accurately obtained;
the 5 control input 8 contains the vessel dynamics 4, the speed information given by the speed sensor 6, the information output by the coordinate transformation 2, the speed error vector 12 and the information of the desired speed vector 3 obtained by the first differentiator 9.
The invention also includes such features:
the expected speed vector 3 generates corresponding variables according to the output information of the coordinate transformation 2, the differential value generated by the second differentiator 11 and the pose information given by the pose sensor 7, and transmits the corresponding variables to the first differentiator 9 to form partial parameters of the controller 8;
the update rate of the auxiliary variable 13 is generated by the output value of the controller 8, and the velocity error vector 12 is formed by the difference between the auxiliary variable 13, the velocity information generated by the velocity sensor 6 and the desired velocity vector 3; the controller 8 consists of parameters through the first differentiator 9, a velocity error vector 12, parameters through the coordinate transformation 2, the vessel dynamics 4 and the velocity sensor 6, and the controller 8 outputs control instructions to the actuator to generate corresponding control forces to control the under-actuated vessel 5, thereby forcing the under-actuated vessel to track the desired trajectory and the error to converge within a specified time.
Compared with the prior art, the invention has the beneficial effects that:
the invention has the advantages that the convergence time of the system can be set, and the convergence time is independent of any parameters of the controller and the state of the system.
Drawings
FIG. 1 is a schematic diagram of a system for controlling convergence of a track following a given time for an underdriven vessel
Fig. 2 is a diagram of the tracking effect of the under-driven ship.
Wherein 1-a guidance system; 2-coordinate transformation; 3-the desired velocity vector; 4, ship dynamics; 5-under-driving the ship; 6-a speed sensor; 7, a pose sensor; 8-a controller; 9-a first differentiator; 10-an integrator; 11-a second differentiator; 12—a velocity error vector; 13-auxiliary variables.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
As shown in fig. 1, a track-following designated time convergence control system of an under-driven ship of the present invention includes a guidance system 1, a coordinate transformation 2, a desired velocity vector 3, a ship dynamics 4, an under-driven ship 5, a velocity sensor 6, a pose sensor 7, a controller 8, a first differentiator 9, an integrator 10, a second differentiator 11, a velocity error vector 12, and an auxiliary variable 13.
First, a motion model of a ship is described. Definition of the definitionIs the derivative of f with respect to time, f being a variable.
The three-degree-of-freedom motion model of the ship is as follows:
wherein: η is a ship position and heading vector, v is a ship speed vector, J (ψ) is a conversion matrix between a ship body coordinate system and a geodetic coordinate system, M is a system inertia matrix, C (v) is a coriolis centripetal force matrix, D (v) is a damping matrix, τ is a control force and moment, and D is an unmodeled environmental disturbance force. Considering that the underactuated ship has no force input in the transverse direction, τ= [ τ ] u 0 τ r ] T ，τ u Is the force in the advancing direction τ r Is the heading moment.
1) The guidance system 1 is generated by a trajectory of a virtual ship:
the desired bit attitude of the under-actuated vessel at various moments can be calculated by integration. Position vector η d ＝[x d y d ψ d ] T ，x d Is the desired heave position, y d Is the desired sway location, ψ d Is the desired yaw angle. Velocity vector v d ＝[u d v d r d ] T ，u d Is the desired heave velocity, v d To expect the sway speed, r d Is the desired yaw rate.
2) The pose sensor 7 measures the real-time position eta= [ x y psi ] of the ship] T Wherein x is a heave position, y is a roll position, and ψ is a bow angle of the ship. The speed sensor 6 measures real-time speed information v= [ u v r ]] T U is the heave velocity, v is the heave velocity, and r is the yaw angular velocity.
3) Controller design
The first error vector is defined as follows
z 1 ＝[z 11 z 12 z 13 ] T ＝J T (ψ)(η-η α )
In eta α ＝[x d y d ψ a ] T ，ψ a Is a guidance law, and its expression is as follows:
ψ a ＝ψ d -atan(v/u d )-atan(z 12 /Δ)
delta is a constant expressing forward distance and atan is an arctangent function.
Then z can be obtained 1 Differentiation with respect to time is as follows
Wherein the method comprises the steps of
Here due to s= -S T For any z 1 Has the following components
To stabilize z 1 Desired velocity vector v α Is set as
In the middle ofdiag is a diagonal matrix function, t f Is the set convergence time, K 1 ＝[k 11 k 12 k 13 ] T ，k 11 ，k 12 And k 13 Is a constant.
The velocity error vector is defined as follows:
in the formula (I), the total number of the components,alpha is an auxiliary variable to solve the underdrive problem.
ζ=m -1 (C (u) uj+D (uj) uj-D), here it is assumed that ζ is completely known.
In order to ensure that the system is stable, a control law and an auxiliary variable update law are selected as follows:
K 2 ＝[k 21 k 22 k 23 ] T ，k 21 ，k 22 and k 23 Is a constant.
The effectiveness of the control algorithm is demonstrated in figure two.
The invention relates to a track tracking appointed time convergence control system of an underdriven ship. The actual pose and speed information of the ship are collected by the sensors such as a GPS and a gyroscope. The guiding system is to generate a desired track by a virtual ship so as to obtain a desired pose and a desired speed of the ship at various moments. And obtaining a pose error according to the difference value between the actual pose of the under-actuated ship and pose information given by the guiding system, wherein the expected speed vector is generated based on the pose error after coordinate transformation through a differentiator. An auxiliary variable is used to address the underdrive problem, and an update law for the auxiliary variable is generated by part of the information of the controller. The speed error vector is the underdriven vessel speed, the difference between the desired speed vector and the auxiliary variable. The differential value of the velocity vector obtained by the differentiator is desired. The differential value, the speed error vector, the ship dynamics, the information knot and the undershoot ship speed output by the coordinate transformation form a controller. The controller calculates the final control command, which is transmitted to the executing mechanism of the ship to regulate the position, heading and speed of the under-actuated ship to reach the expected track.
Claims (3)
1. The track tracking appointed time convergence control system of the under-driven ship is characterized in that: the system comprises a guiding system (1), coordinate transformation (2), an expected speed vector (3), ship dynamics (4), an underdriven ship (5), a speed sensor (6), a pose sensor (7), a controller (8), a first differentiator (9), an integrator (10), a second differentiator (11), a speed error vector (12) and auxiliary variables (13);
the ship steering system (1) generates a desired track by a virtual ship, so that desired pose and desired speed of the ship at each moment are obtained, a pose sensor (7) collects actual pose information of the ship and transmits the actual pose information to a coordinate transformation (2), the coordinate transformation (2) transforms errors of the desired value and the actual value to a ship coordinate system and then transmits the errors to a second differentiator (11), a differential value obtained by the second differentiator (11), pose information of the pose sensor (7) and information output by the coordinate transformation (2) obtain a desired speed vector (3), a speed error vector (12) is obtained by the difference value of the desired speed vector (3), output information of the speed sensor (6) and an auxiliary variable (13), an auxiliary variable update law output by the controller (8) obtains the auxiliary variable (13) through an integrator (10), the speed error vector (12), the differential value obtained by the desired speed vector (3) through a first differentiator (9), a ship dynamic state (4), information junction obtained by the coordinate transformation (2) and speed information obtained by the speed sensor (6) form a controller (8), and a steering command of the ship is accurately transmitted to a ship steering command, and a final command is realized, and a steering command is accurately transmitted to a ship is controlled, so that a steering command is accurately adjusted to realize the steering time is realized;
2) The guiding system (1) generates corresponding tracks by virtual ships with the same parameters, so that tracks on the underdriven ship can be tracked, expected pose information is given in real time, and finally the underdriven ship is stably stabilized at an expected position in an expected heading; the obtained expected pose and speed are transmitted to a control system, and a controller (8) calculates a control instruction through the information;
3) The auxiliary variable (13) is used for solving the underdrive problem, and the introduction of the auxiliary variable (13) realizes the derivation of the controller by a full-drive ship method, so that the design of the controller is simplified;
4) In the design of the controller, the information of the ship dynamic (4) is assumed, the output information of the pose sensor (7) and the output information of the speed sensor (6) can be accurately obtained;
5) The controller (8) contains the vessel dynamics (4), the speed information given by the speed sensor (6), the information output by the coordinate transformation (2), the speed error vector (12) and the information obtained by the desired speed vector (3) through the first differentiator (9).
2. The designated time convergence control system for an under-driven vessel as set forth in claim 1, wherein: the expected speed vector (3) generates corresponding variables according to the output information of the coordinate transformation (2), the differential value generated by the second differentiator (11) and the pose information given by the pose sensor (7) and transmits the corresponding variables to the first differentiator (9) to form part of parameters of the controller (8).
3. The designated time convergence control system for an under-driven vessel as set forth in claim 1, wherein: the update rate of the auxiliary variable (13) is generated by the output value of the controller (8), and the speed error vector (12) is formed by the difference value of the auxiliary variable (13), the speed information generated by the speed sensor (6) and the expected speed vector (3); the controller (8) is composed of parameters through the first differentiator (9), a speed error vector (12), parameters through the coordinate transformation (2), ship dynamics (4) and a speed sensor (6), and the controller (8) outputs control instructions to the executing mechanism to generate corresponding control force to control the under-driven ship (5), so that the under-driven ship is forced to track a desired track and the error converges in a specified time.
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