CN112230566B - 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 unpowered floats by using a multi-surface ship.A guiding system transmits tracking information of the unpowered floats to a unpowered float controller; the position information of the unpowered floating body of the sensor system and the multi-surface ship is transmitted to the nonlinear extended state observer, and the unpowered floating body controller and the multi-surface ship cooperative controller are used for controlling the sensor system to be in a non-linear extended state; the nonlinear extended state observer transmits the estimated speed and the composite interference to the unpowered floating body controller and the multi-surface ship formation controller respectively; the unpowered floating body controller transmits control information to control the distribution system; and 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 condition 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 a method for controlling the cooperative positioning of unpowered floating bodies, in particular to a method for controlling the cooperative positioning of unpowered floating bodies by using a multi-surface ship.
Background
For offshore floats, for example: dynamic positioning operations of large barges, offshore large semi-submersible platforms and unpowered floats are an important application in the marine industry. Because these offshore floats are generally not designed or do not provide sufficient control force to effect the positioning operation of the offshore floats. The use of multiple surface vessels to co-locate an offshore buoy is a viable solution. Most of the current research focuses on cooperative control methods where the surface vessel is in direct contact with the offshore floating body. There is no information exchange between the offshore floating body and the multi-surface vessel. There is little research involved in the cooperative control of offshore floats considering that they use a tow chain to connect a multi-surface vessel and the presence of communications.
In practical applications, there is often uncertainty in the model of the unpowered float and the surface vessel, and they are all affected by time-varying marine environmental disturbances. Furthermore, speed sensors are rarely equipped for most vessels. And the speed information is needed in the design process of the controller. It is therefore necessary to design the observer to achieve simultaneous estimation of speed and model uncertainty and environmental disturbances of the vessel.
Lin Anhui in the article "formation control method for assisting berthing of large ships with multiple tugboats" published in the university of Xiamen, journal of the 1 st phase of science, 2019, a mode of direct contact between tugboats and large ships is adopted.
Disclosure of Invention
The invention aims to provide a co-positioning control method for an unpowered floating body of a multi-surface ship under the influence of unknown speeds of the unpowered floating body and the multi-surface ship and uncertainty of marine environment and model.
The purpose of the invention is realized in the following way:
the method for controlling the cooperative positioning of the unpowered floating bodies by using the multi-surface ship comprises the following specific 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, namely the speed and the acceleration of the ship, so that the ship can stably reach the expected position, and the obtained information of the expected position, the speed and the acceleration 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 cooperative controller are connected with the sensor system;
3) Environmental disturbances act on the unpowered float and the multi-surface marine system, respectively;
4) The comprehensive information of the nonlinear extended state observer respectively estimates the speeds of the unpowered floating body and the multi-surface ship and the composite interference consisting of environmental interference and uncertainty, and respectively transmits the estimated speeds and the composite interference to the unpowered floating body controller and the multi-surface ship cooperative controller;
5) The unpowered floating body controller synthesizes information to obtain a control instruction, and transmits the control instruction to control the distribution system; the control distribution system calculates the minimum pulling force required to be provided on each drag chain and transmits information to the drag chain system;
6) The drag chain 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 comprehensive information of the multi-water surface cooperative controller obtains a control instruction of the multi-water surface ship cooperative control, the control instruction is transmitted to a multi-water surface ship system, an execution mechanism of the multi-water surface ship executes the control instruction, the movement of the multi-water surface ship is realized, and meanwhile, the actual control force is transmitted to a 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 the 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 guidance 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 control strategy of the unpowered floating body guidance and the cooperative tracking of the multi-surface ship; comprehensively considering the unknown speed information of the unpowered floating body and the multi-surface ship, and realizing the cooperative positioning of the unpowered floating body under the condition 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 an unpowered float co-location control method using a multi-surface vessel;
FIG. 2 is a simulation of co-location tracking of a multi-surface and unpowered float.
Wherein, 1-a guidance system; 2-unpowered float controller; 3-a nonlinear extended state observer; 4-controlling the distribution system; 5-unpowered floating body; 6-a drag chain system; 7-a communication system; 8-a multi-surface ship cooperative controller; 9-a multi-surface vessel system; 10-environmental interference; 11-sensor system.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
The utility model provides a use unpowered body co-location control method of many surface of water ship, n many surface of water ship and 1 unpowered body pass through the tow chain to be connected, its characterized in that: 1 a guidance system; 2 an unpowered float controller; 3 a nonlinear extended state observer; 4 controlling a distribution system; 5 unpowered floats; 6 a drag chain system; a communication system; 8, a multi-surface ship cooperative controller; a multi-surface vessel system; 10 environmental interference; 11 sensor system
First, a motion model of n multi-surface vessels is introduced. The three-degree-of-freedom motion model of the surface ship is as follows:
wherein: i=1.. i Is the position vector of the ith surface vessel;
is eta i Derivative with respect to time; upsilon (v) i For the speed vector of the ith surface vessel, < > j->
Is v i Derivative with respect to time; />
The total environmental interference experienced by clause i. M is M i ＝M i T Is the inertial matrix of the ith water surface ship, meets M i Derivative about time->
D i Is the unknown ith surface vessel damping matrix. τ i Is the control vector of the ith surface vessel; />
Is the drag chain tension on the ith surface vessel, wherein B i Coefficient matrix for drag chain acting force on surface ship, < > for>
Is the horizontal tension on the ith tow chain. R (psi) i ) Is a rotation matrix of the surface ship, and the specific form is as follows: />
And satisfy R T (ψ i )＝R -1 (ψ i ) And
wherein r is i Is the rotation angular velocity of the ith surface vessel, S is
For convenience of writing hereinafter we use R i ＝R(ψ i ) And
likewise, the three degree of freedom motion mathematical model of the unpowered float is as follows
Wherein: η (eta) 0 ＝[x 0 ,y 0 ,ψ 0 ]Is the position vector of the unpowered floating body, (x) 0 ,y 0 ) Sum phi 0 The position and heading angle of the unpowered floating body are respectively;
is eta 0 Derivative with respect to time; upsilon (v) 0 Is the velocity vector of the unpowered floating body, +.>
Is v 0 Derivative with respect to time;
is the total environmental disturbance experienced by the unpowered float. M is M 0 ＝M 0 T Is an inertia matrix of the unpowered floating body, meets M 0 With respect to timeDerivative->
D 0 Is an unknown unpowered floating body damping matrix. τ 0 ＝B 0 T is the input vector of the unpowered float, where
And B 0 Coefficient matrices for all drag chains acting on the unpowered float. R is R 0 Is a rotating matrix of unpowered floats.
1) The guidance system 1 is guided through a given unpowered float desired position eta d Calculating the expected position eta of each moment of the motion of the unpowered floating body d ＝[x d ,y d ,ψ d ](x d ,y d ) Sum phi d The position of the unpowered float is the heading angle and the speed
And acceleration->
The ship can be made to reach the desired position smoothly, and the desired position direction information obtained is transmitted to the unpowered float controller 2.
2) The sensor system 11 will measure the position η of the unpowered float 0 And the position eta of a multi-surface vessel i Is transferred to the nonlinear extended state observer 3, the unpowered float controller 2 and the multi-surface ship cooperative controller 8.
3 environmental disturbances act on the unpowered float 5 and the multi-surface vessel co-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 according to 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;
to facilitate the design of nonlinear extended state observers hereinafter, the model of the unpowered float and the multi-surface vessel is written as follows
Where k=0, 1,..,
and->
The complex interference consisting of model uncertainty and marine environment interference is specifically formed by +.>
For an inertial matrix M k Is a matrix of inverse of (a). />
Definition of the definition
Is the position eta k Estimated value of ∈10->
Is v k Estimated value of ∈10->
For interfering complex->
Is used for the estimation of the estimated value of (a). Definition of the definition
Is the position estimation error. The nonlinear extended state observer designed by the invention has the following form:
in the above, K ko1 ＝3ω k I 3 ，
And->
Wherein omega k Is the observer bandwidth of the design.
5) The unpowered float controller 2 integrates information and transmits control information to the control distribution system 4; the control and distribution system 5 calculates the minimum tension that needs to be provided on each drag chain and transmits information to the drag chain system 6:
defining the position and velocity tracking error of an unpowered float as
In the above, alpha 0 Is the virtual control rate.
Deriving the above-mentioned derivative
In the above
For virtual control rate alpha 0 Is a derivative of (a).
In order to converge the tracking error, a tracking controller designed for an unpowered float is as follows
In the above, K 01 ,K 02 The gain matrix is controlled for the positive determination of the design.
Since the unpowered float itself is unable to provide the control force, the force it moves is provided by the tow chains to which it is connected, in order to minimize the horizontal tension on each tow chain, the minimum tension on each tow chain is obtained by controlling the distribution system 4. I.e. solving the following optimal problem
The constraint condition is that
τ 0 -B 0 T＝0,
T 0 ≤T≤T max ,
In the above formula, T 0 Designed to provide minimal tension on the drag chain, T max The maximum tension that can be provided for the drag chain.
Based on the calculated minimum tension T i I.e. each one requiring the provision of a minimum tension T on the drag chain i d 。
6) The drag chain system 6 calculates the desired formation θ for the current multi-surface vessel i And transferred to the multi-surface vessel co-controller 8.
Note 1: the invention does not require a specific 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 a ij Information about the j-th surface vessel that indicates that the j-th surface vessel can be the i-th surface vessel includes information on the position and estimated speed of the i-th vessel. Definition a i0 Information about the unpowered float is obtained from the ith surface vessel, including information about the position and estimated speed of the unpowered float.
8) The multi-water surface cooperative controller 8 synthesizes information and transmits control instructions to the multi-water surface ship system, and an executing mechanism of the multi-water surface ship system 9 executes the control instructions to realize movement of the multi-water surface ship and simultaneously transmits actual control force to the nonlinear extended state observer 3.
The design process of the cooperative controller of the multi-surface ship is as follows:
define the tracking error of the ith ship as
Deriving the above-mentioned derivative
In the above
Therefore, the virtual control rate of the design is as follows
K in the above i1 Is to design a control gain matrix.
Define the second tracking error as
Deriving the above-mentioned derivative
In the above
For virtual control rate alpha i Is a derivative of (a).
The control rate of the design of the multi-surface vessel is thus as follows
9) The drag chain system 6 calculates the current drag chain tension T i H And the total drag chain tension tau 0 ＝B 0 T is transferred to unpowered floatThe body 5 and the nonlinear state observer 3, the unpowered float realize the position movement to the expected position eta d 。
The invention adopts four surface vessels and an unpowered drilling platform to carry out simulation experiments, and considers the external environment interference suffered by the vessels, and the simulation result is shown in figure 2.
The control method designed by the invention has better control effect and the unpowered floating body tracks the reference signal with higher precision.
To sum up: the invention provides a co-positioning control method for an unpowered floating body of a multi-surface ship under the influence of unknown speed, marine environment and model uncertainty. The guiding 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 cooperative controller are connected with the sensor system; the comprehensive information of the nonlinear extended state observer respectively estimates the speeds of the unpowered floating body and the multi-surface ship and the composite interference consisting of environmental interference and uncertainty, and the estimated speeds and the composite interference are respectively transmitted to the unpowered floating body controller and the multi-surface ship formation controller; the unpowered floating body controller synthesizes information and transmits the control information to the control distribution system; the control distribution system calculates the minimum pulling force required to be provided on each drag chain and transmits information to the drag chain system; the drag chain 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-water surface cooperative controller synthesizes information, a control instruction is transmitted to a multi-water surface ship system, an execution mechanism of the multi-water surface ship executes the control instruction, movement of the water surface ship is realized, and meanwhile, the actual control force is transmitted to a 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 the position movement.
The multi-surface ship is connected with an unpowered floating body through a drag chain; the design concept is based on the control strategy that the unpowered floating body is guided by the unpowered floating body, and the multi-surface ship cooperatively tracks the unpowered floating body; comprehensively considering the unknown speed information of the unpowered floating body and the multi-surface ship, and realizing the cooperative positioning of the unpowered floating body under the condition of environmental interference and model uncertainty; the tracking performance of the unpowered floating body tracking reference signal is ensured.
Claims (3)
1. A kind of unpowered floating body cooperative positioning control method using the multi-surface ship is characterized in that: the specific implementation steps are as follows:
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, namely the speed and the acceleration of the ship, so that the ship can stably reach the expected position, and the obtained information of the expected position, the speed and the acceleration 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 cooperative controller are connected with the sensor system;
3) Environmental disturbances act on the unpowered float and the multi-surface marine system, respectively;
4) The comprehensive information of the nonlinear extended state observer respectively estimates the speeds of the unpowered floating body and the multi-surface ship and the composite interference consisting of environmental interference and uncertainty, and respectively transmits the estimated speeds and the composite interference to the unpowered floating body controller and the multi-surface ship cooperative controller;
5) The unpowered floating body controller synthesizes information to obtain a control instruction, and transmits the control instruction to control the distribution system; the control distribution system calculates the minimum pulling force required to be provided on each drag chain and transmits information to the drag chain system;
6) The drag chain 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 comprehensive information of the multi-water surface cooperative controller obtains a control instruction of the multi-water surface ship cooperative control, the control instruction is transmitted to a multi-water surface ship system, an execution mechanism of the multi-water surface ship executes the control instruction, the movement of the multi-water surface ship is realized, and meanwhile, the actual control force is transmitted to a 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 the position movement.
2. The method for controlling co-location of an unpowered floating body using a multi-surface vessel according to claim 1, wherein: the multi-surface ship is connected with the unpowered floating body through a drag chain.
3. The method for controlling co-location of an unpowered floating body using a multi-surface vessel according to claim 1, wherein: based on the guidance of the unpowered floating body, the control strategy for cooperatively tracking the unpowered floating body by the multi-surface ship comprises the following steps of:
the design process of the cooperative controller of the multi-surface ship is as follows:
define the tracking error of the ith ship as
Deriving the above-mentioned derivative
In the above
Is z i1 ,θ ij ,θ i Derivative with respect to time>
Therefore, the virtual control rate of the design is as follows
K in the above i1 The control gain matrix is designed;
define the second tracking error as
Deriving the above-mentioned derivative
In the above
For virtual control rate alpha i Is a derivative of (2); />
Is z i2 Is a derivative of (2);
the control rate of the design of the multi-surface vessel is thus as follows
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