CN112578814A - Linear track tracking control method for formation of multiple autonomous underwater vehicles - Google Patents

Linear track tracking control method for formation of multiple autonomous underwater vehicles Download PDF

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CN112578814A
CN112578814A CN202011484196.8A CN202011484196A CN112578814A CN 112578814 A CN112578814 A CN 112578814A CN 202011484196 A CN202011484196 A CN 202011484196A CN 112578814 A CN112578814 A CN 112578814A
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uuv
formation
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underwater vehicle
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CN112578814B (en
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潘光
高剑
陈依民
宋保维
王鹏
张福斌
张立川
杜晓旭
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Northwestern Polytechnical University
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Abstract

The invention relates to a method for tracking and controlling a linear track for formation of multiple autonomous underwater vehicles, which ensures that a UUV accurately moves along an expected track through tracking control, and is particularly important for an accurate measurement task; through the design of speed control instructions of all UUV, all UUV gradually converge to the expected formation in the x direction, and the whole formation system is at the expected speed u while the formation is maintainedd(t) movement; the invention has wide application range. The invention can be applied to UUV and formation linear track tracking control of various underwater robots.

Description

Linear track tracking control method for formation of multiple autonomous underwater vehicles
Technical Field
The invention relates to a control method of an autonomous underwater vehicle, in particular to a linear track tracking control method for formation of multiple autonomous underwater vehicles.
Background
Autonomous Underwater vehicles (UUV) are one of the important tools for future ocean exploration and development. It can make comprehensive investigation and research at the depth which can not be reached by general diving technique and can implement several operations, so that it can make ocean development come into new generation. No matter the demand on exploration and development of marine oil, laying and maintenance of submarine pipelines, marine investigation and military affairs, all need the participation of UUV. And with the enhancement of the functions of the robot and the progress of artificial intelligence, the application range of the robot is wider and wider, a discipline for comprehensively applying various knowledge to serve industrial production and people's life is gradually formed, and the development level of national ocean high-tech is reflected to a great extent.
UUVs are one of the important tools for future ocean exploration and development. Because the knowledge and the capability of individuals are limited, the performance indexes of single UUV are far from meeting the requirements. The potential application of the multi-UUV technology in military and marine science research is great, so that the multi-UUV technology becomes one of necessary directions for research and development of the autonomous underwater vehicle. The system composed of a plurality of UUV can expand the perception range of a single UUV through isomorphic or heterogeneous modes, enhance the fault tolerance capability of the system, and realize the complex task that the single UUV can not complete or is difficult to complete, thereby enabling the whole system to have higher intelligence and stronger functions. The multi-UUV system has the characteristics of spatial distribution, functional distribution and time distribution, and has wide application prospects in many aspects such as ocean stereo reconnaissance, cluster anti-submergence, underwater target search and the like. At present, most of multi-UUV systems adopt distributed cooperative control, the calculation amount is overlarge, each UUV needs to carry an onboard computer, the cost is overlarge, and the calculation is too complex.
The technical problem solved by the invention is as follows: under the condition of avoiding overhigh calculation cost of general formation control, the linear track tracking control of the multi-UUV formation is realized. The tracking control method provided by the invention is a centralized control method, only the main UUV needs to process the data transmitted by the other UUV for tracking control, so that a large amount of calculation and cost can be saved, and compared with the existing centralized control method, the robustness is stronger.
The technical scheme of the invention is as follows: a linear track tracking control method for formation of multiple autonomous underwater vehicles is characterized by comprising the following steps:
step 1: initial setting: defining a plurality of autonomous underwater vehicles, wherein one autonomous underwater vehicle is used as a master UUV, and the rest autonomous underwater vehicles are used as slave UUV; calculating a motion error control model of the main underwater vehicle to realize the control of the self linear track; simultaneously, the other underwater vehicles transmit the collected central point coordinates (x, y) and the yaw angle psi to the main underwater vehicle along the linear speed and the angular speed of two shafts of the carrier coordinate system, and the motion error control model is calculated in the main UUV;
step 2: establishing a motion error control model, comprising the following substeps:
step 1.1: acquiring data through a measuring sensor carried on the autonomous underwater vehicle to obtain the central point coordinates (x, y) and the yaw angle psi of the current position of the autonomous underwater vehicle, and the linear speed and the angular speed of two shafts along a carrier coordinate system; by giving the desired transverse coordinate ydThe "virtual control amount" desired heading angle defining the lateral tracking error e is
Figure BDA0002838542840000021
Wherein
Figure BDA0002838542840000022
e＝y-yd，ydIs a desired lateral coordinate value and has
Figure BDA0002838542840000023
Step 1.2: from the desired course angle
Figure BDA0002838542840000024
Thereby obtaining a reference course angular velocity of:
Figure BDA0002838542840000025
u represents the forward velocity of the autonomous underwater vehicle, v represents the lateral velocity of the autonomous underwater vehicle;
step 1.3: desired heading angle psi based on virtual control quantitydAnd a reference course angular velocity rdAnd calculating the relative tracking deviation of the autonomous underwater vehicle and the expected heading:
Figure BDA0002838542840000031
wherein u ise,ψe,reRespectively a forward speed tracking error, a course angle tracking error and a course angular speed tracking error; u. ofcFor a given speed command;
step 1.4: according to the result obtained in the step 1.3, calculating a tracking kinematic error model of the autonomous underwater vehicle:
Figure BDA0002838542840000032
wherein the linear tracking error χ is globally K-exponential stable, and the velocity in the x-direction eventually converges to the velocity command uc(t); step 2: calculating a speed control command and forward thrust of the main UUV according to the underwater vehicle motion model obtained in the step 1.4; meanwhile, the straight-line formation track tracking control of the main UUV on the other underwater vehicles is realized by combining the data information transmitted by the other underwater vehicles, and the method comprises the following substeps:
step 2.1: by coordinating speed commands u of the main underwater vehicleci(t) allowing all autonomous underwater vehicles to progressively converge to a desired formation in the x-direction, and while maintaining the formation, the entire formation system at a desired speed ud(t) motion, i.e. implementing formation control, where for UUViDesign speed control command uciIs composed of
Figure BDA0002838542840000033
Where g (-) is a continuous, differentiable, monotonically increasing, bounded function that satisfies g' (0)>0,g(0)+0，g(·)∈[-a,a]；JiIs UUViA neighbor set of (2);
step 2.2: calculating the forward thrust of each autonomous underwater vehicle as:
Figure BDA0002838542840000034
the further technical scheme of the invention is as follows: the specific derivation of the model obtained in step 3 includes the following substeps:
substep 1: the horizontal plane motion of the autonomous underwater vehicle is modeled as
Figure BDA0002838542840000035
And
Figure BDA0002838542840000041
in the formula, u is the UUV forward speed, v is the UUV lateral speed, and X is the UUV forward thrust;
substep 2: substituting the relative tracking deviation obtained in the step 2 into the model in the substep 1 to obtain:
Figure BDA0002838542840000042
in the formula (I), the compound is shown in the specification,
hx1＝cosψ
Figure BDA0002838542840000043
substep 3: definition of χ ═ ue ψe re e v]T,hx(χ,uc)＝[hx1 hx2 0 hx3 0]And finally obtaining the simplified formula in the step 1.4.
The further technical scheme of the invention is as follows: and defining a vehicle with strong calculation capability of an onboard computer as a main underwater vehicle.
Effects of the invention
The invention has the technical effects that:
the invention designs a cooperative control law, so that the relative distance between UUV along the x-axis direction gradually converges to a given expected value, and the speed of each UUV is adjusted to a common expected speed, thereby realizing the formation linear tracking control of the UUV. Compared with the prior art, the method has the following advantages and effects:
1. tracking control is realized by designing an autonomous underwater vehicle tracking kinematic error model in the step 1.4, so that the UUV accurately moves along an expected track, which is particularly important for an accurate measurement task;
2. through the design of the speed control instruction of each UUV in the step 2.1, the fact that all the UUV gradually converge to the expected formation in the x direction is achieved, and the formation is maintained, and meanwhile, the whole formation system is at the expected speed ud(t) movement;
3. the application range is wide. The invention can be applied to UUV and formation linear track tracking control of various underwater robots.
Drawings
Fig. 1 is a schematic view of a linear track tracking of an under-actuated autonomous underwater vehicle; in the figure, k1 is a control parameter, u is the forward speed of the unmanned underwater vehicle, v is the lateral speed of the unmanned underwater vehicle, phi is an instant heading angle, and phi d is a desired heading angle
FIG. 2 is a schematic diagram of multi-UUV formation linear tracking;
in the figure, d12, d13 and d23 are respectively set as the distance between the centroids of UUV1 and UUV2, the distance between the centroids of UUV1 and UUV3 and the distance between the centroids of UUV2 and UUV3 along the x direction. yd1, yd2 and yd3 are respectively set y-axis coordinates of UUV1, UUV2 and UUV3
FIG. 3 is a communication topology diagram of a multi UUV system;
in the figure, UUV1 is defined as a master UUV, UUV2, UUV3 is defined as a slave UUV, UUV2 and UUV3 respectively communicate with UUV1 through underwater sound, self information (i.e., center point coordinates (x, y) of the current position and yaw angle ψ, and linear velocity and angular velocity along two axes of a carrier coordinate system) is transmitted to UUV1, UUV1 calculates to obtain respective control input (thrust and velocity control instruction) and returns to UUV1 and UUV2, and formation control of multiple UUVs is realized.
FIG. 4 is a block diagram of a multi-UUV formation linear track tracking control system;
FIG. 5 is a flow chart of settlement of a multi-UUV formation linear track tracking controller;
FIG. 6 is a multi-UUV linear track following trajectory diagram;
FIG. 7 is a multi UUV coordinate graph;
FIG. 8 is a graph of multi-UUV velocity;
FIG. 9 is a plot of thrust for a multi-UUV thruster;
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Referring to fig. 1-9, the invention aims to provide a method for realizing linear track tracking control of formation of UUVs.
The purpose of the invention is realized as follows:
step 1, initializing, acquiring data through a measurement sensor carried by a UUV, obtaining the current horizontal plane position coordinate of the UUV, a yaw angle, linear speed along two axes of a carrier coordinate system and angular speed data information, converting a given expected horizontal coordinate into a virtual control quantity expected course angle, and solving a corresponding reference course angular speed;
step 2, based on the reference course angle and the reference course angular velocity obtained in the step 1, calculating the relative tracking deviation of the UUV and the expected course through a UUV velocity and course angle tracking error equation;
step 3, calculating the forward speed of the expected path point based on the tracking error calculated in the step 2;
step 4, based on the expected forward speed obtained by calculation in step 3, adopting an information consistency algorithm to design a UUViThe speed control command of (1) adjusts each UUV to a common expected speed;
and 5, deducing the propeller thrust of the autonomous underwater vehicle UUV according to a given UUV kinematics and dynamics model, and then adopting the controller to realize the linear track tracking control of the formation of the UUV.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to a flowchart (fig. 5) and an example. It should be understood that the specific examples described herein are intended to be illustrative only and are not intended to be limiting.
Step 1, defining a virtual control quantity expected course angle of a transverse tracking error e through a given expected transverse coordinate
Figure BDA0002838542840000071
As shown in fig. 1, in the formula,
Figure BDA0002838542840000072
e＝y-ydis the lateral tracking error; y isdIs a desired lateral coordinate and has
Figure BDA0002838542840000073
Is defined by a desired heading angle
Figure BDA0002838542840000074
Defining a corresponding reference heading angular velocity
Figure BDA0002838542840000075
Considering UUV forward motion control, it tracks time-varying command uc(t)。
Step 2, calculating tracking errors of speed and course angle
Figure BDA0002838542840000076
Wherein u ise,ψe,reThe forward speed tracking error, the course angle tracking error and the course angular speed tracking error are respectively.
For convenience of description, the horizontal plane motion model of the UUV is defined as
Figure BDA0002838542840000077
And
Figure BDA0002838542840000078
wherein u is UUV forward speed, v is UUV lateral speed, X is UUV forward thrust, m is11,m22,m33,d11,d22,d33Is the UUV related kinetic parameter.
And 3, substituting the speed and course tracking error (3) into a forward kinematics equation (4) to obtain a UUV tracking kinematics error model of
Figure BDA0002838542840000081
In the formula (I), the compound is shown in the specification,
hx1＝cosψ
Figure BDA0002838542840000082
definition of χ ═ ue ψe re e v]T,hx(χ,uc)＝[hx1 hx2 0 hx3 0]Then formula (6) can be written as
Figure BDA0002838542840000083
Step 4, adopting an information consistency algorithm to the UUViDesign speed control command uciIs composed of
Figure BDA0002838542840000084
Where g (-) is a continuous, differentiable, monotonically increasing, bounded function that satisfies g' (0)>0,g(0)+0，g(·)∈[-a,a]；JiIs UUViIs selected.
Step 5, substituting the formula (8) into the forward dynamics equation (5) to obtain forward thrust of
Figure BDA0002838542840000085
Verifying and analyzing a simulation experiment:
for example, in order to verify the effectiveness of the multi-UUV formation linear track tracking controller designed by the present invention, a simulation test is performed on a planned track: according to step 1 of the invention, a desired formation y is first givend1＝0,yd2＝-100,yd3＝100,d12＝d13＝d 230, desired speed ud＝5m/s。Selection of k1＝0.2,g(·)＝a/πarctan(·),t＝100。
Given initial states of UUV as
u1(0)＝u2(0)＝u3(0)＝3m/s,(x1(0),y1(0))＝(-50,10),(x2(0),y2(0))＝(20,-60)，(x3(0),y3(0))＝(-10,35),ψ1(0)＝0,ψ2(0)＝π/2,ψ3(0) Pi/2, and the rest of the motion parameters are zero.
The simulation system shown in the attached drawing 4 is established in the MATLAB, the controller is used for resolving, the process is shown in the attached drawing 5, after the initial values are given, the formation, the position, the speed and the forward thrust of the UUV at each moment are calculated, the change curves of the position, the speed and the forward thrust of the UUV in the time period are output, and the obtained simulation result is shown in the attached drawings 6-9.
Simulation analysis
FIGS. 6-9 are graphs of simulation curves for tracking a straight track of a multi-UUV formation. Fig. 6 is a track diagram of track tracking of multi-UUV linear formation tracks, in which the motion tracks of 3 UUVs can be obtained, and the thin dotted line in the diagram represents the actual positions of the 3 UUVs corresponding to each moment, so that it can be clearly seen from the diagram that the motion formation effect is better, and the effectiveness of the tracking controller provided by the present invention is verified; in fig. 7, the solid line, the dotted line, and the dotted line are coordinate curves of UUV1, UUV2, and UUV3, respectively, and it can be seen from the figure that the x coordinate changes of 3 UUVs after the motion is stabilized are completely synchronized, and the y coordinate thereof is stabilized at the set value (y coordinate)d1＝0,yd2＝-100,yd3100), motion formation is achieved; in fig. 8, the solid line, the dotted line and the dotted line are speed curves of UUV1, UUV2 and UUV3 respectively, it can be seen that the speeds are kept consistent after the motion is stable, and the linear formation control is realized; in fig. 9, the solid line, the dotted line and the dotted line are thrust curves of UUV1, UUV2 and UUV3, respectively, it can be seen that the thrust of 3 UUVs after the motion is stable is consistent, and the correctness of the designed controller is verified.

Claims (3)

1. A linear track tracking control method for formation of multiple autonomous underwater vehicles is characterized by comprising the following steps:
step 1: initial setting: defining a plurality of autonomous underwater vehicles, wherein one autonomous underwater vehicle is used as a master UUV, and the rest autonomous underwater vehicles are used as slave UUV; calculating a motion error control model of the main underwater vehicle to realize the control of the self linear track; simultaneously, the other underwater vehicles transmit the collected central point coordinates (x, y) and the yaw angle psi to the main underwater vehicle along the linear speed and the angular speed of two shafts of the carrier coordinate system, and the motion error control model is calculated in the main UUV;
step 2: establishing a motion error control model, comprising the following substeps:
step 1.1: acquiring data through a measuring sensor carried on the autonomous underwater vehicle to obtain the central point coordinates (x, y) and the yaw angle psi of the current position of the autonomous underwater vehicle, and the linear speed and the angular speed of two shafts along a carrier coordinate system; by giving the desired transverse coordinate ydThe "virtual control amount" desired heading angle defining the lateral tracking error e is
Figure FDA0002838542830000011
Wherein
Figure FDA0002838542830000012
e＝y-yd，ydIs a desired lateral coordinate value and has
Figure FDA0002838542830000013
Step 1.2: from the desired course angle
Figure FDA0002838542830000014
Thereby obtaining a reference course angular velocity of:
Figure FDA0002838542830000015
u represents the forward velocity of the autonomous underwater vehicle, v represents the lateral velocity of the autonomous underwater vehicle;
step 1.3: desired heading angle psi based on virtual control quantitydAnd a reference course angular velocity rdAnd calculating the relative tracking deviation of the autonomous underwater vehicle and the expected heading:
Figure FDA0002838542830000016
wherein u ise,ψe,reRespectively a forward speed tracking error, a course angle tracking error and a course angular speed tracking error; u. ofcFor a given speed command;
step 1.4: according to the result obtained in the step 1.3, calculating a tracking kinematic error model of the autonomous underwater vehicle:
Figure FDA0002838542830000021
wherein the linear tracking error χ is globally K-exponential stable, and the velocity in the x-direction eventually converges to the velocity command uc(t)；
Step 2: calculating a speed control command and forward thrust of the main UUV according to the underwater vehicle motion model obtained in the step 1.4; meanwhile, the straight-line formation track tracking control of the main UUV on the other underwater vehicles is realized by combining the data information transmitted by the other underwater vehicles, and the method comprises the following substeps:
step 2.1: by coordinating speed commands u of the main underwater vehicleci(t) allowing all autonomous underwater vehicles to progressively converge to a desired formation in the x-direction, and while maintaining the formation, the entire formation system at a desired speed ud(t) motion, i.e. implementing formation control, where for UUViDesign speed control command uciIs composed of
Figure FDA0002838542830000022
Where g (-) is a continuous, differentiable, monotonically increasing, bounded function that satisfies g' (0)>0,g(0)+0，g(·)∈[-a,a]；JiIs UUViA neighbor set of (2);
step 2.2: calculating the forward thrust of each autonomous underwater vehicle as:
Figure FDA0002838542830000023
2. the method for controlling the linear track following for the formation of multiple autonomous underwater vehicles according to claim 1, characterized in that the specific derivation of the model obtained in step 3 comprises the following sub-steps:
substep 1: the horizontal plane motion of the autonomous underwater vehicle is modeled as
Figure FDA0002838542830000024
And
Figure FDA0002838542830000031
in the formula, u is the UUV forward speed, v is the UUV lateral speed, and X is the UUV forward thrust;
substep 2: substituting the relative tracking deviation obtained in the step 2 into the model in the substep 1 to obtain:
Figure FDA0002838542830000032
in the formula (I), the compound is shown in the specification,
hx1＝cosψ
Figure FDA0002838542830000033
substep 3: definition of χ ═ ue ψe re e v]T,hx(χ,uc)＝[hx1 hx2 0 hx30]And finally obtaining the simplified formula in the step 1.4.
3. The method for controlling the formation of the linear tracks of the multiple autonomous underwater vehicles according to claim 1, characterized in that the vehicle with the powerful operation capability of the on-board computer is defined as the main underwater vehicle.
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