CN112230566A - Unpowered floating body cooperative positioning control method using multi-surface ship - Google Patents
Unpowered floating body cooperative positioning control method using multi-surface ship Download PDFInfo
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Abstract
The invention provides a method for controlling the cooperative positioning of an unpowered floating body by using a multi-surface ship.A guide system transmits the tracking information of the unpowered floating body to an unpowered floating body controller; the position information of the unpowered floating body and the multi-surface ship of the sensor system is transmitted to the nonlinear extended state observer, and the unpowered floating body controller and the multi-surface ship are cooperated with the controller; the nonlinear extended state observer transmits the estimated speed and the estimated composite interference to the unpowered floating body controller and the multi-surface ship formation controller respectively; the unpowered floating controller transmits control information to the control distribution system; the control distribution system transmits information to a drag chain system and the like, and finally the unpowered floating body realizes position movement. The method comprehensively considers that the speed information of the unpowered floating body and the multi-surface ship is unknown, and realizes the cooperative positioning of the unpowered floating body under the conditions of environmental interference and model uncertainty; the tracking performance of the unpowered floating body tracking reference signal is ensured.
Description
Technical Field
The invention relates to an unpowered floating body cooperative positioning control method, in particular to an unpowered floating body cooperative positioning control method using a multi-surface ship.
Background
For offshore floats, for example: dynamic positioning operations for large barges, large offshore semi-submersibles and unpowered buoys are an important application for the marine industry. As these offshore floats are typically not designed or do not provide sufficient control force to effect the positioning operation of the offshore float. Co-locating an offshore buoy using multiple surface vessels is a viable solution. Most of the existing research focuses on a cooperative control method in which a surface ship directly contacts with an offshore floating body. These methods do not allow information exchange between the offshore float and the multi-surface vessel. Considering the case where the offshore float connects the multi-surface vessel using the tow chain and there is communication, there is little research into the cooperative control of the offshore float.
In practical applications, there is often uncertainty due to the unpowered floating body and the model of the surface vessel, and they are both affected by the time-varying marine environment disturbance. Furthermore, speed sensors are rarely equipped for most vessels. And the speed information needs to be used during the design of the controller. Therefore, it is necessary to design an observer to achieve simultaneous estimation of the speed and model uncertainty of the vessel and environmental disturbances.
The formation control method for assisting large-scale ship berthing by a plurality of tugs, which is published by Linanhui et al in the university of mansion university journal, 2019, the natural science edition 1, uses a plurality of tugs to berth a large-scale ship, but adopts a mode that the tugs are in direct contact with the large-scale ship.
Disclosure of Invention
The invention aims to provide a co-location control method for an unpowered floating body of a multi-surface ship under the influence of unknown speed of the unpowered floating body and the multi-surface ship, marine environment and model uncertainty.
The purpose of the invention is realized as follows:
a control method for the unpowered floating body cooperative positioning by using a multi-surface ship comprises the following concrete implementation steps:
1) the guiding system calculates the expected position of the unpowered floating body at each moment and the first derivative and the second derivative of the expected position of the unpowered floating body with respect to time, namely the speed and the acceleration of the ship, so that the ship can stably reach the expected position, and the obtained expected position, speed and acceleration information is transmitted to the unpowered floating body controller;
2) the sensor system transmits the measured position information of the unpowered floating body and the multi-surface ship to the nonlinear extended state observer, and the unpowered floating body controller and the multi-surface ship coordinate controller;
3) the environmental interference acts on the unpowered floating body and the multi-surface ship system respectively;
4) the nonlinear extended state observer comprehensive information respectively estimates the speeds of the unpowered floating body and the multi-surface ship and the compound interference consisting of environmental interference and uncertainty, and respectively transmits the estimated speeds and the compound interference to the unpowered floating body controller and the multi-surface ship cooperative controller;
5) the unpowered floating controller synthesizes information to obtain a control instruction, and the control instruction is transmitted to a control distribution system; the control distribution system calculates the minimum pulling force required to be provided on each drag chain and transmits the information to the drag chain system;
6) the towline system calculates the expected formation of the current multi-surface ship and transmits the expected formation to the multi-surface ship cooperative controller;
7) the communication system transmits the current communication information to the multi-surface ship cooperative controller;
8) the multi-surface cooperative controller synthesizes information to obtain a control instruction of the multi-surface ship cooperative control, the control instruction is transmitted to a multi-surface ship system, an execution mechanism of the multi-surface ship executes the control instruction, the multi-surface ship moves, and meanwhile actual control force is transmitted to the nonlinear extended state observer;
9) the drag chain system calculates the current drag chain tension and transmits the drag chain tension to the unpowered floating body and the nonlinear state observer, and the unpowered floating body realizes position movement.
The invention also includes such features:
the multi-surface ship is connected with the unpowered floating body through a drag chain;
based on the guide of the unpowered floating body, the multi-surface ship cooperatively tracks the control strategy of the unpowered floating body.
Compared with the prior art, the invention has the beneficial effects that:
the design concept of the invention is based on the unpowered floating body guide, and the control strategy of the unpowered floating body is tracked by the cooperation of a plurality of surface ships; comprehensively considering that the speed information of the unpowered floating body and the multi-surface ship is unknown, and realizing the cooperative positioning of the unpowered floating body under the conditions of environmental interference and model uncertainty; the tracking performance of the unpowered floating body tracking reference signal is ensured.
Drawings
FIG. 1 is a block diagram of a method of controlling the cooperative positioning of an unpowered floating body using a multi-surface vessel;
FIG. 2 is a simulation diagram of the co-location tracking of a multi-surface and unpowered floating body.
Wherein, 1-guidance system; 2-unpowered floating body controller; 3-a non-linear extended state observer; 4-control of the distribution system; 5-unpowered floating body; 6-a drag chain system; 7-a communication system; 8-a multi-surface ship cooperative controller; 9-multiple surface vessel system; 10-environmental interference; 11-sensor system.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The utility model provides an unpowered body collaborative positioning control method of using many surface of water boats, n many surface of water boats pass through the tow chain with 1 unpowered body and are connected which characterized in that: 1 a guidance system; 2, a unpowered floating body controller; 3, a nonlinear extended state observer; 4 controlling the distribution system; 5, an unpowered floating body; 6, a drag chain system; 7 a communication system; 8, a multi-surface ship cooperative controller; 9 multi-surface vessel systems; 10, environmental interference; 11 sensor system
First, the motion model of n multi-surface vessels is described. The three-degree-of-freedom motion model of the surface ship is as follows:
in the formula: 1, n, ηiThe position vector of the ith surface ship;
is etaiA derivative with respect to time; upsilon isiIs the velocity vector of the ith surface vessel,
is upsiloniA derivative with respect to time;
is the total environmental interference experienced by the ith stripe. Mi＝Mi TIs the inertia matrix of the ith surface ship and meets MiDerivative with respect to time
DiIs the unknown ith surface vessel damping matrix. Tau isiIs the control vector of the ith surface ship;
is the drag chain tension on the ith surface vessel, wherein BiIs a coefficient matrix of the acting force of the drag chain on the surface ship,
is the horizontal tension on the ith tow chain. R (psi)i) The rotation matrix of the surface ship is in the following specific form:
and satisfy RT(ψi)＝R-1(ψi) And
wherein r isiIs the rotation angular velocity of the ith surface vessel, S is
We use R for the convenience of writing belowi＝R(ψi) And
similarly, the mathematical model of the unpowered floating body with three degrees of freedom is as follows
In the formula: eta0＝[x0,y0,ψ0]Is the position vector of the unpowered floating body, (x)0,y0) And psi0The position and the heading angle of the unpowered floating body are respectively;
is eta0A derivative with respect to time; upsilon is0Is the velocity vector of the unpowered floating body,
is upsilon0A derivative with respect to time;
is the general environmental disturbance to the unpowered floating body. M0＝M0 TIs an inertia matrix of a non-powered floating body and meets the requirement of M0Derivative with respect to time
D0Is an unknown unpowered floating body damping matrix. Tau is0＝B0T is the input vector of the unpowered floating body, where
And B0Coefficient matrix of all drag chains acting on the unpowered floating body. R0Is a rotation matrix of the unpowered floating body.
1) Guidance system1 passing a given unpowered float desired position etadCalculating the expected position eta of the unpowered floating body at each momentd＝[xd,yd,ψd](xd,yd) And psidThe desired position of the unpowered floating body is the heading angle and the speed
And acceleration
The ship can smoothly reach a desired position, and the obtained desired position information is transmitted to the unpowered floating body controller 2.
2) The position η of the unpowered floating body to be measured by the sensor system 110And position eta of multi-surface shipiAnd the signals are transmitted to a nonlinear extended state observer 3, an unpowered floating body controller 2 and a multi-surface ship cooperative controller 8.
3 the environmental disturbance acts on the unpowered floating body 5 and the multi-surface ship cooperative controller 9.
4) The nonlinear extended state observer 3 estimates the speeds of the unpowered floating body and the multi-surface ship and the composite interference comprising model uncertainty and environmental interference respectively by comprehensive information, and transmits the estimated speeds and the composite interference to the unpowered floating body controller 2 and the multi-surface ship cooperative controller 8 respectively;
for convenience in designing the nonlinear extended state observer hereinafter, the model of the unpowered floating body and the multi-surface ship is written as follows
Where k is 0,1,. n,
and
for model uncertainty and marine environment interference compositionIn the form of
Is an inertia matrix MkThe inverse matrix of (c).
Definition of
Is a position etakIs determined by the estimated value of (c),
is upsilonkIs determined by the estimated value of (c),
for combined interference
An estimate of (d). Definition of
Is the position estimation error. The nonlinear extended state observer designed by the invention is in the form as follows:
in the above formula, Kko1＝3ωkI3，
And
wherein ω iskIs the designed observer bandwidth.
5) The unpowered floating body controller 2 integrates information and transmits control information to the control distribution system 4; the control and distribution system 5 calculates the minimum pull force to be provided on each tow chain and transmits the information to the tow chain system 6:
defining the position and velocity tracking error of the unpowered floating body as
In the above formula, α0Is the virtual control rate.
Derived by derivation of the above formula
In the above formula
For controlling the rate a virtually0The derivative of (c).
To make the tracking error converge, the tracking controller designed for the unpowered floating body is as follows
In the above formula, K01,K02The gain matrix is controlled for the positive determination of the design.
Since the unpowered buoyant body itself cannot provide the control force, the force with which it moves is provided by the tow chain to which it is connected, in order to minimise the horizontal tension on each tow chain, the minimum tension on each tow chain is achieved by controlling the distribution system 4. I.e. solving the following optimal problem
The constraint condition is
τ0-B0T＝0,
T0≤T≤Tmax,
In the above formula, T0Minimum pull force, T, provided on a drag chain of the designmaxThe maximum tension which can be provided by the drag chain.
According to the calculated minimum tension TiI.e. each one needs to provide a minimum tension T on the tow chaini d。
6) The towline system 6 calculates the expected formation theta of the current multi-surface shipiAnd transmitted to the multi-surface ship cooperative controller 8.
Note 1: the invention does not require a concrete modeling form of the drag chain, namely the invention is applicable to any given drag chain model.
7) The communication system 7 transmits the current communication information to the multi-surface ship cooperative controller;
definition aijInformation relating to the jth surface vessel and the ith surface vessel is included, including the location and estimated speed information of the ith vessel. Definition ai0And the information related to the unpowered floating body can be obtained by the ith surface ship and comprises the position and the estimated speed information of the unpowered floating body.
8) The multi-surface cooperative controller 8 synthesizes information, transmits a control instruction to the multi-surface ship system, and an execution mechanism of the multi-surface ship system 9 executes the control instruction, so that the multi-surface ship moves, and transmits actual control force to the nonlinear extended state observer 3.
The design process of the multi-surface ship cooperative controller is as follows:
defining the tracking error of the ith ship as
Derived by derivation of the above formula
In the above formula
Therefore, the virtual control rate of the design is as follows
In the above formula Ki1A control gain matrix is designed.
Defining a second tracking error as
Derived by derivation of the above formula
In the above formula
For controlling the rate a virtuallyiThe derivative of (c).
The control rate for a multi-surface vessel design is thus as follows
9) The drag chain system 6 calculates the current drag chain tension Ti HAnd the total drag chain tension tau is applied0＝B0T is transmitted to the unpowered floating body 5 and the nonlinear state observer 3, and the unpowered floating body realizes position movement to reach the expected position etad。
The simulation experiment is carried out by adopting four surface ships and one unpowered drilling platform, the external environment interference of the ships is considered, and the simulation result is shown in an attached figure 2.
The control method designed by the invention has a better control effect, and meanwhile, the unpowered floating body tracks the reference signal with higher precision.
In summary, the following steps: the invention provides a cooperative positioning control method for an unpowered floating body of a multi-surface ship under the influence of unknown speed, marine environment and model uncertainty of the unpowered floating body and the multi-surface ship. The guide system transmits the tracked reference position, speed and acceleration information of the unpowered floating body to the unpowered floating body controller; the sensor system transmits the measured position information of the unpowered floating body and the multi-surface ship to the nonlinear extended state observer, and the unpowered floating body controller and the multi-surface ship coordinate controller; the comprehensive information of the nonlinear extended state observer is used for estimating the speeds of the unpowered floating body and the multi-surface ship and the composite interference consisting of environmental interference and uncertainty respectively, and the estimated speeds and the composite interference are transmitted to the unpowered floating body controller and the multi-surface ship formation controller respectively; the unpowered floating controller synthesizes information and transmits the control information to a control distribution system; the control distribution system calculates the minimum pulling force required to be provided on each drag chain and transmits the information to the drag chain system; the towline system calculates the expected formation of the current multi-surface ship and transmits the expected formation to the multi-surface ship cooperative controller; the communication system transmits the current communication information to the multi-surface ship cooperative controller; the multi-surface cooperative controller synthesizes information, transmits a control instruction to a multi-surface ship system, and an executing mechanism of the multi-surface ship executes the control instruction to realize the movement of the surface ship and simultaneously transmits actual control force to the nonlinear state observer; the drag chain system calculates the current drag chain tension and transmits the drag chain tension to the unpowered floating body and the nonlinear state observer, and the unpowered floating body realizes position movement.
The multi-surface ship is connected with the unpowered floating body through the drag chain; the design concept is based on unpowered floating body guiding, and a control strategy that a multi-surface ship cooperatively tracks the unpowered floating body is adopted; comprehensively considering that the speed information of the unpowered floating body and the multi-surface ship is unknown, and realizing the cooperative positioning of the unpowered floating body under the conditions of environmental interference and model uncertainty; the tracking performance of the unpowered floating body tracking reference signal is ensured.
Claims (3)
1. A control method for the unpowered floating body cooperative positioning by using a multi-surface ship is characterized in that: the method comprises the following concrete steps:
1) the guiding system calculates the expected position of the unpowered floating body at each moment and the first derivative and the second derivative of the expected position of the unpowered floating body with respect to time, namely the speed and the acceleration of the ship, so that the ship can stably reach the expected position, and the obtained expected position, speed and acceleration information is transmitted to the unpowered floating body controller;
2) the sensor system transmits the measured position information of the unpowered floating body and the multi-surface ship to the nonlinear extended state observer, and the unpowered floating body controller and the multi-surface ship coordinate controller;
3) the environmental interference acts on the unpowered floating body and the multi-surface ship system respectively;
4) the nonlinear extended state observer comprehensive information respectively estimates the speeds of the unpowered floating body and the multi-surface ship and the compound interference consisting of environmental interference and uncertainty, and respectively transmits the estimated speeds and the compound interference to the unpowered floating body controller and the multi-surface ship cooperative controller;
5) the unpowered floating controller synthesizes information to obtain a control instruction, and the control instruction is transmitted to a control distribution system; the control distribution system calculates the minimum pulling force required to be provided on each drag chain and transmits the information to the drag chain system;
6) the towline system calculates the expected formation of the current multi-surface ship and transmits the expected formation to the multi-surface ship cooperative controller;
7) the communication system transmits the current communication information to the multi-surface ship cooperative controller;
8) the multi-surface cooperative controller synthesizes information to obtain a control instruction of the multi-surface ship cooperative control, the control instruction is transmitted to a multi-surface ship system, an execution mechanism of the multi-surface ship executes the control instruction, the multi-surface ship moves, and meanwhile actual control force is transmitted to the nonlinear extended state observer;
9) the drag chain system calculates the current drag chain tension and transmits the drag chain tension to the unpowered floating body and the nonlinear state observer, and the unpowered floating body realizes position movement.
2. The method of claim 1 for controlling the cooperative positioning of the unpowered floating bodies using the multi-surface vessel, wherein the method comprises the following steps: the multi-surface ship is connected with the unpowered floating body through a drag chain.
3. The method of claim 1 for controlling the cooperative positioning of the unpowered floating bodies using the multi-surface vessel, wherein the method comprises the following steps: based on the guide of the unpowered floating body, the multi-surface ship cooperatively tracks the control strategy of the unpowered floating body.
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| CN113625706A (en) * | 2021-07-08 | 2021-11-09 | 哈尔滨工程大学 | Guiding method for automatic fixed-point hybrid control mode of dynamic positioning ship |
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| CN113625705A (en) * | 2021-07-08 | 2021-11-09 | 哈尔滨工程大学 | Guiding method for automatic transverse positioning hybrid control mode of dynamic positioning ship |
| CN113625706A (en) * | 2021-07-08 | 2021-11-09 | 哈尔滨工程大学 | Guiding method for automatic fixed-point hybrid control mode of dynamic positioning ship |
| CN113625705B (en) * | 2021-07-08 | 2023-12-12 | 哈尔滨工程大学 | Guiding method for automatic transverse mixing control mode of power positioning ship |
| CN113625706B (en) * | 2021-07-08 | 2023-12-12 | 哈尔滨工程大学 | Guiding method for automatic fixed-point hybrid control mode of power positioning ship |
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