CN113336117B - Automatic deviation rectifying method and device for warm salt deep winch - Google Patents
Automatic deviation rectifying method and device for warm salt deep winch Download PDFInfo
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- CN113336117B CN113336117B CN202110676519.1A CN202110676519A CN113336117B CN 113336117 B CN113336117 B CN 113336117B CN 202110676519 A CN202110676519 A CN 202110676519A CN 113336117 B CN113336117 B CN 113336117B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/485—Control devices automatic electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
Abstract
Hair brushThe invention provides an automatic deviation rectifying method and device for a warm salt deep winch, and the method comprises the following steps: acquiring forward heading deviation e of automatic sliding vehicle at time t θ And lateral deviation e d (ii) a Assuming the auto-sliding vehicle wheel speed v 1 Remains unchanged for a very short time interval Δ t; when the cable generates distance and direction deviation due to external interference, the automatic deviation correcting system corrects course deviation e by calculating the differential speed of the driving wheel at the time t θ And lateral deviation e d (ii) a The cable position identification system calculates the real-time forward heading deviation e at the moment t θ And real-time lateral deviation e d Transmitting the data to an automatic deviation rectifying system, and calculating to obtain a transverse deviation e θ And when the tracking track model is more than or equal to 0, the driver controls the wheels of the automatic sliding vehicle to transit to an ideal guide line along an arc tangent line, so that the control of the automatic sliding vehicle device on the reel of the standard winch is completed, the automatic deviation correction of the warm salt deep winch is finally realized, and the conditions of unevenness of the reel cable, knotting of the cable and the like are avoided.
Description
Technical Field
The invention belongs to the technical field of ocean monitoring data acquisition, and particularly relates to an automatic deviation rectifying method and device for a warm salt deep winch.
Background
The traditional winch of the thermohaline depth gauge comprises a hydraulic device, a control device, a reel, a cable and other accessories. When the sea works (assuming that a mother ship for placing the warm-salt deep winch is a dynamic positioning ship and keeps static), after the warm-salt deep fish is thrown into the sea water by the winch, the fish continuously sinks by the self gravity to complete the sea water warm-salt deep data profile measurement. However, when the fish is dragged to sink, the relative movement exists between the cable and the winch due to the influence of the wave flow, the direction and the position of the cable are continuously changed, and thus the cable and the reel are difficult to keep a fixed position. During the process of continuously winding and unwinding the cable, the condition of uneven winding shaft cable, knotting of the cable and the like is easily caused. The traditional temperature salt deep winch cable needs manual real-time monitoring and manual deviation rectifying adjustment during winch parking when being wound and unwound.
Disclosure of Invention
The invention aims at the defects and provides an automatic deviation rectifying method and device for a warm salt deep winch, wherein a deviation condition in the process of winding and unwinding the cable is monitored in real time by introducing a cable position identification system, an automatic deviation rectifying system comprising an optimal deviation controller, a PID (proportion integration differentiation) controller and a driving feedback system, an automatic sliding vehicle comprising a sliding vehicle body, a driving wheel and a driver and the like, so that the automatic control and adjustment of the sliding vehicle are realized, the cable and the winch are finally kept fixed, and the conditions of unevenness of the reel cable, knotting of the cable and the like are avoided.
The invention provides the following technical scheme: an automatic deviation rectifying method for a warm salt deep winch comprises the following steps:
s1: the cable position identification system irradiates and acquires a fixed point of a cable of the warm and salt deep winch, a central point of a rear drive axle of an automatic sliding vehicle of the warm and salt deep winch and an included angle e between the driving direction of the automatic sliding vehicle and an x axis θ For positive heading deviation, the fixed point of the cable is at a distance e from the transverse direction of the vehicle to the x-axis d Is a lateral deviation;
s2: assuming the left wheel velocity v of the auto-sliding vehicle 1 And a left wheel movement direction, the right wheel speed v of the automatic sliding vehicle 2 And the right wheel speed remains constant for a time interval Δ t;
s3: when the cable generates distance and direction deviation due to external interference, the cable position identification system identifies the position change of the cable, and calculates and obtains the real-time positive course deviation e of the automatic sliding vehicle connected with the cable at the moment t θ And real-time lateral deviation e d The automatic deviation correcting system calculates the speed v of the left wheel at the moment t 1 And said right wheel speed v 2 As the differential speed of the driving wheel, where Δ v ═ v 1 -v 2 ；
S4: the cable position identification system calculates the real-time forward navigation deviation e at the time t θ And real-time lateral deviation e d Transmitting the data to an automatic deviation rectifying system, and calculating to obtain a transverse deviation e θ The optimal tracking track model is larger than or equal to 0, the obtained deviation rectifying strategy is conveyed to a driver of the automatic sliding vehicle, and the driver controls the automatic sliding vehicleThe wheels transition to an ideal guide line along the arc tangent line, the control of the automatic sliding car device on the standard winch reel is completed, and the automatic deviation correction of the warm salt deep winch is finally realized.
Further, the step of S4 includes the steps of:
s41: an optimal deviation controller in the automatic deviation rectifying system calculates to obtain an optimal control track, the optimal control track is transmitted to a PID (proportion integration differentiation) controller as an input signal, and a driving feedback system acquires a real-time forward navigation deviation e 'of the automatic pulley in the continuous motion process at the moment t' θ And real-time lateral deviation e' d As a feedback signal and transmitted to the PID controller;
s42: comparing the feedback signal with the input signal to obtain a driving wheel differential speed delta v and a driving wheel differential speed change rate delta a;
s43: the PID controller obtains the driving wheel differential speed delta v, the driving wheel differential speed change rate delta a and the forward heading deviation e according to the step S43 θ And lateral deviation e d Under the constraint of the optimal deviation state equation, establishing a kinematic equation of the transverse deviation and the course deviation at the moment of t + 1;
s44: the PID controller constructs a Hamilton optimal control function H, calculates and updates optimal control u and pose deviation PID controller parameters A and B required by a deviation rectification control track between the automatic sliding car and an optimal deviation path thereof, and further obtains an optimal target track model enabling the automatic sliding car to run according to the optimal target track;
s45: adjusting the differential deviation correction of the automatic sliding vehicle in real time, and enabling the initial value e of the transverse deviation d And the initial value e of the forward deviation θ As an initial quantity, a deviation correction target e d ＝0、e θ And substituting 0 as a control quantity into the optimal target track model obtained in the step S44 to realize optimal control of deviation rectification of the winch device.
Further, the optimal deviation state equation in the step S43 is as follows:
wherein, Δ v max For maximum allowable differential speed of the driving wheels,. DELTA.a max To maximize the allowable rate of change of the differential speed of the drive wheels,
the maximum allowed lateral deviation is given to the,
maximum allowable forward deviation.
Further, the kinematic equations of the lateral deviation and the heading deviation at the time t +1 established in the step S43 are as follows:
wherein e is d (t) is the lateral deviation at time t, e θ (t) is the forward deviation at time t.
Further, in the step S44, the PID controller constructs the hamilton optimal control function H as follows:
wherein, u ═ Δ v (t) is the optimal control of the deviation rectification control track; Δ v (t) is a driving wheel differential speed Δ v at time t, Δ t ═ t +1-t, v c For optimal control of vehicle speed, x is the target optimal target trajectory, x ═ e d (t)e θ (t)) T ；
And lambda is the undetermined two-dimensional Lagrangian multiplier vector for the first derivative of x.
Further, the calculation formula of the optimal control u required by the deviation rectifying control track is as follows:
wherein the content of the first and second substances,
is the first derivative of said λ.
Further, the calculation is to substitute the optimal control u into the hamiltonian optimal control function H to obtain an optimal target trajectory model with the pose deviation PID controller parameters a and B required by the deviation rectification control trajectory:
wherein, the first and the second end of the pipe are connected with each other,
the invention also provides an automatic deviation rectifying device of the warm salt deep winch, which adopts the method and comprises the following steps: the cable position identification system is used for monitoring the position of the cable in real time and transmitting the deviation direction and the deviation amount of the cable to an optimal deviation controller in an automatic deviation correction system in real time;
an automatic deviation rectifying system used for calculating an optimal control track to adjust the differential deviation rectification of the automatic sliding car in real time by an optimal deviation controller in the automatic deviation rectifying system, and enabling the initial value e of the transverse deviation d And the initial value e of the forward deviation θ As an initial quantity, a deviation correction target e d ＝0、e θ Substituting 0 as a control quantity into the optimal target track model obtained in the step S44 to realize optimal control of deviation rectification of the winch device;
the automatic sliding vehicle comprises a sliding vehicle body, a driving wheel and a driver, wherein the driver is in communication connection with the automatic deviation correcting system and is used for receiving an optimal target track model command of the automatic deviation correcting system, realizing automatic control and adjustment and finally adjusting the position of the cable and the position of the automatic sliding vehicle to be kept constant.
Further, the automatic deviation rectifying system comprises an optimal deviation controller, a PID controller and a driving feedback system.
Further, the cable position identification system includes an infrared laser scanner and an ultrasonic.
The invention has the beneficial effects that:
1. the automatic deviation rectifying method and the device for the warm salt deep winch can monitor deviation in the cable winding and unwinding process in real time in the operation process of the cable winding and unwinding system, and realize automatic deviation rectification by adjusting the automatic sliding vehicle, so that the cable and the winch are kept in fixed positions.
2. The automatic deviation rectifying method and the device for the warm salt depth winch provided by the invention adopt an infrared laser scanner and an ultrasonic audiovisual means, have the functions of keeping watch without day and night and double backup, and ensure that the positioning information of the winch cable of the automatic warm salt depth instrument is accurate.
3. According to the automatic deviation rectifying method and device for the warm salt deep winch, the automatic deviation rectifying system is designed based on the PID control algorithm, the robustness and the adaptability are high, and most practical application requirements are met.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings. Wherein:
FIG. 1 is a schematic diagram of a two-dimensional coordinate system constructed in step S1 of the automatic deviation rectifying method for the warm salt deep winch provided by the invention;
FIG. 2 is a schematic diagram of the wheel speed of the automatic sliding vehicle in the automatic deviation rectifying method for the warm salt deep winch provided by the invention in a two-dimensional coordinate system;
FIG. 3 is a flowchart of calculation performed by the automatic deviation rectifying system in the step S4 in the automatic deviation rectifying method for the warm salt deep winch according to the present invention;
fig. 4 is a schematic structural diagram of the automatic deviation rectifying device of the warm salt deep winch provided by the invention.
Detailed description of the preferred embodiments
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
The automatic deviation rectifying method for the warm salt deep winch provided by the embodiment is characterized by comprising the following steps of:
s1: as shown in figure 1, the cable position identification system irradiates and acquires a fixed point B of a cable of the warm salt deep winch, a central point C of a rear drive axle of an automatic sliding vehicle of the warm salt deep winch and an included angle e between the driving direction of the automatic sliding vehicle and an x-axis θ For positive heading deviation, the fixed point B of the cable is at a distance e from the transverse direction of the automatic sliding vehicle to the x-axis d Is a lateral deviation;
s2: as shown in FIG. 2, assume the left wheel velocity v of the auto-sliding vehicle 1 And a left wheel movement direction, the right wheel speed v of the automatic sliding vehicle 2 And the right wheel speed remains unchanged for a very short time interval Δ t;
s3: when the cable generates distance and direction deviation due to external interference, the cable position identification system identifies the position change of the cable, and calculates and obtains the real-time positive course deviation e of the automatic sliding vehicle connected with the cable at the moment t θ And real-time lateral deviation e d The automatic deviation correcting system calculates the speed v of the left wheel at the moment t 1 And said right wheel speed v 2 As the differential speed of the driving wheel, where Δ v ═ v 1 -v 2 ；
S4: the cable position identification system calculates the real-time forward navigation deviation e at the time t θ And real-time lateral deviation e d Transmitting the data to an automatic deviation rectifying system, and calculating to obtain a transverse deviation e θ The optimal tracking track model is used for tracking the track when the track is more than or equal to 0, the obtained deviation rectifying strategy is conveyed to a driver of the automatic sliding car, the driver controls wheels of the automatic sliding car to transition to an ideal guide line along a circular arc tangent line, and the reel control of the automatic sliding car device to the standard winch is completedAnd finally, automatic deviation rectification of the warm salt deep winch is realized.
As shown in fig. 3, the S4 step includes the steps of:
s41: an optimal deviation controller in the automatic deviation rectifying system calculates to obtain an optimal control track, the optimal control track is transmitted to a PID (proportion integration differentiation) controller as an input signal, and a driving feedback system acquires a real-time forward navigation deviation e 'of the automatic pulley in the continuous motion process at the moment t' θ And real-time transverse deviation e' d As a feedback signal P and transmitted to the PID controller;
s42: comparing the feedback signal with the input signal to obtain a driving wheel differential speed delta v and a driving wheel differential speed change rate delta a;
s43: the PID controller obtains the driving wheel differential speed delta v, the driving wheel differential speed change rate delta a and the forward heading deviation e according to the step S43 θ And lateral deviation e d Under the constraint of the optimal deviation state equation, establishing a kinematic equation of the transverse deviation and the course deviation at the moment of t + 1;
s44: the PID controller constructs a Hamilton optimal control function H, calculates and updates optimal control u and pose deviation PID controller parameters A and B required by a deviation rectification control track between the automatic sliding car and an optimal deviation path thereof, and further obtains an optimal target track model enabling the automatic sliding car to run according to the optimal target track; obtaining the initial value e of the transverse deviation θ When the deviation state is more than or equal to 0, the optimal tracking track is selected by the optimal deviation controller, the deviation rectifying strategy based on the optimal deviation controller enables the automatic sliding vehicle device to transit to an ideal guide line along a circular arc tangent line, the control of the automatic sliding vehicle device on a standard winch reel is effectively completed, and finally the automatic deviation rectifying of the warm salt deep winch is realized;
s45: adjusting the differential deviation correction of the automatic sliding vehicle in real time, and enabling the initial value e of the transverse deviation d And the initial value e of the forward deviation θ As an initial quantity, a deviation correction target e d ＝0、e θ Substituting the optimal target trajectory model obtained in the step S44 with 0 as a control quantity to realize optimal control of deviation correction of the winch deviceAnd (5) preparing.
The optimal deviation state equation in the step S43 is as follows:
wherein, Δ v max For maximum allowable differential speed of the driving wheels,. DELTA.a max To maximize the allowable rate of change of the differential speed of the drive wheels,
the maximum allowed lateral deviation is given to the,
maximum allowable forward deviation.
The kinematic equations of the lateral deviation and the heading deviation at the time t +1 established in the step S43 are as follows:
wherein e is d (t) is the lateral deviation at time t, e θ (t) is the forward deviation at time t.
In step S44, the PID controller constructs the hamilton optimal control function H as follows:
wherein, u is Δ v (t), which is the optimal control of the deviation rectifying control track; Δ v (t) is a driving wheel differential speed Δ v at time t, Δ t ═ t +1-t, v c For optimal control of vehicle speed, x is the target optimal target trajectory, and x ═ e d (t)e θ (t)) T ；
And lambda is the undetermined two-dimensional Lagrangian multiplier vector for the first derivative of x.
In step S44, the calculation formula of the optimal control u required by the deviation rectifying control trajectory is as follows:
wherein the content of the first and second substances,
is the first derivative of said lambda.
In the step of S44, substituting the optimal control u into the Hamiltonian optimal control function H to obtain an optimal target track model with the pose deviation PID controller parameters A and B required by the deviation rectification control track:
wherein the content of the first and second substances,
according to the automatic deviation rectifying method for the warm salt deep twisting, provided by the invention, the deviation condition of the cable in the cable winding and unwinding process can be monitored in real time through the cable position identification system in the operation process of the cable winding and unwinding system, and the automatic deviation rectifying is realized by adjusting the automatic sliding vehicle, so that the cable and the winch are kept in a fixed position. The automatic deviation rectifying system is designed based on a PID control algorithm, has strong robustness and adaptability and can meet most of practical application requirements.
Example 2
As shown in fig. 4, the automatic deviation rectifying device for the warm salt deep winch, which is provided by the present invention and adopts the method provided by embodiment 1, comprises: the cable position identification system is used for monitoring the position of the cable in real time and transmitting the deviation direction and the deviation amount of the cable to an optimal deviation controller in an automatic deviation correction system in real time;
an automatic deviation rectifying system for calculating the optimal control track of the optimal deviation controller in the automatic deviation rectifying systemAdjusting the differential deviation correction of the automatic sliding vehicle, and enabling the initial value e of the transverse deviation d And the initial value e of the forward deviation θ As an initial quantity, a deviation correction target e d ＝0、e θ Substituting 0 as a control quantity into the optimal target track model obtained in the step S44 to realize optimal control of deviation rectification of the winch device;
the automatic sliding vehicle comprises a sliding vehicle body, a driving wheel and a driver, wherein the driver is in communication connection with the automatic deviation correcting system and used for receiving an optimal target track model command of the automatic deviation correcting system, realizing automatic control and adjustment and finally adjusting the position of the cable and the position of the automatic sliding vehicle to be kept fixed, so that the conditions that the cable of a reel is uneven or the cable is knotted are avoided.
The automatic deviation rectifying system comprises an optimal deviation controller, a PID controller and a driving feedback system.
The cable position identification system includes an infrared laser scanner and an ultrasonic scanner. Has the function of dual backup and guard without day and night.
According to the invention, by introducing a cable position identification system, an automatic deviation correction system comprising an optimal deviation controller, a PID controller and a drive feedback system, an automatic sliding vehicle comprising a sliding vehicle body, a driving wheel and a driving system and the like, deviation conditions in the cable winding and unwinding operation process are monitored in real time, automatic control and adjustment of the sliding vehicle are realized, the positions of the cable and a winch are kept unchanged, and the conditions of unevenness of the reel cable, knotting of the cable and the like are avoided.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process and related description of the system described above may refer to the corresponding process in the foregoing method embodiments, and will not be described herein again.
It should be noted that, the system provided in the foregoing embodiment is only illustrated by dividing the functional modules, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the modules or steps in the embodiments of the present invention are further decomposed or combined, for example, the modules in the foregoing embodiment may be combined into one module, or may be further split into multiple sub-modules, so as to complete all or part of the functions described above. Names of the modules and steps related in the embodiments of the present invention are only for distinguishing the modules or steps, and are not to be construed as unduly limiting the present invention.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes and related descriptions of the storage device and the processing device described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
Those of skill in the art would appreciate that the various illustrative modules, method steps, and modules described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that programs corresponding to the software modules, method steps may be located in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. To clearly illustrate this interchangeability of electronic hardware and software, various illustrative components and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as electronic hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing or implying a particular order or sequence.
The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.
Claims (8)
1. An automatic deviation rectifying method for a warm salt deep winch is characterized by comprising the following steps:
s1: the cable position identification system irradiates and acquires a fixed point of a cable of the warm and salt deep winch, a central point of a rear drive axle of an automatic sliding vehicle of the warm and salt deep winch and defines an included angle between the running direction of the automatic sliding vehicle and an x axis
For positive heading deviation, the cable fixing point is at a distance from the X-axis along the transverse direction of the automatic sliding vehicle
Is a lateral deviation;
s2: assuming left wheel speed of the auto-slide
And a left wheel movement direction, the right wheel speed of the automatic sliding vehicle
And the direction of motion of the right wheel at time intervals
The inner parts of the two parts are kept unchanged;
s3: when the cable generates distance and direction deviation due to external interference, the cable position identification system identifies the position change of the cable and calculates the position change to obtaintReal-time positive heading deviation of the auto-slide vehicle constantly connected with the cable
And real-time lateral deviation
The automatic deviation correcting system calculatestTime of day the left wheel speed
And the speed of the right wheel
Velocity difference of
As a differential for the driving wheels, wherein
；
S4: the cable position identification system calculatestReal-time positive course deviation at all times
And real-time lateral deviation
Transmitting to an automatic deviation rectifying system, and calculating to obtain a transverse deviation
And (3) the obtained deviation rectifying strategy is conveyed to a driver of the automatic sliding vehicle by the optimal tracking track model, the driver controls wheels of the automatic sliding vehicle to transit to an ideal guide line along an arc tangent line, the automatic sliding vehicle controls a standard winch reel, and automatic deviation rectifying of the warm salt deep winch is finally realized.
2. The automatic deviation rectifying method for the warm salt deep winch according to claim 1, wherein the step S4 comprises the following steps:
s41: an optimal deviation controller in the automatic deviation rectifying system calculates to obtain an optimal control track, the optimal control track is transmitted to a PID controller as an input signal, and a feedback system is driven to acquire real-time positive course deviation of the automatic sliding vehicle at the time t in the continuous motion process
And real-time lateral deviation
As a feedback signal and transmitted to the PID controller;
s42: comparing the feedback signal with the input signal to obtain the driving wheel differential speed
Differential rate of change of drive wheel
；
S43: the PID controller obtains the driving wheel differential speed according to the step S42
Differential rate of change of driving wheel
And forward heading deviation
And lateral deviation
Establishing under the constraint of the optimal deviation state equationtA kinematic equation of the lateral deviation and the course deviation at the +1 moment;
s44: the PID controller constructs a Hamilton optimal control functionHCalculating and updating optimal control required by the deviation rectifying control track between the automatic sliding vehicle and the optimal deviation path of the automatic sliding vehicle
And pose deviation PID controller parametersAAndBfurther obtaining an optimal target track model enabling the automatic sliding vehicle to run according to the optimal target track;
s45: adjusting the differential deviation of the automatic sliding vehicle in real time to adjust the transverse deviation
And the forward deviation
As an initial value, a deviation correction target
、
Substituting the control quantity into the optimal target track model obtained in the step S44 to realize optimal control of deviation rectification of the winch device;
the optimal deviation state equation in the step S43 is as follows:
wherein the content of the first and second substances,
in order to allow the driving wheels to be driven at the maximum differential speed,
to maximize the allowable rate of change of the differential speed of the drive wheels,
the maximum allowed lateral deviation is given to the,
maximum allowable forward heading bias;
established in the step S43tThe kinematic equations for lateral and heading bias at time +1 are as follows:
wherein the content of the first and second substances,
is composed oftThe lateral deviation of the time of day,
is composed oftForward heading deviation of time; l is the distance between the left wheel and the right wheel of the automatic sliding vehicle along the y-axis direction when the left wheel moving direction and the right wheel moving direction of the automatic sliding vehicle are both the x-axis direction;
is composed oftInstantaneous differential speed of driving wheel
，
，
The vehicle speed is controlled optimally.
3. The automatic deviation rectifying method for the warm salt deep winch according to claim 2, wherein in the step S44, the PID controller constructs the hamilton optimal control functionHThe following were used:
wherein the content of the first and second substances,
optimal control for deviation rectification control track is realized;
is composed oftDifferential speed of driving wheel at any moment
，
，
In order to optimally control the vehicle speed,xin order to target the optimal target trajectory,
；
is that it isxThe first derivative of (a) is,λis the two-dimensional Lagrangian multiplier vector to be determined.
4. The automatic deviation rectifying method for the warm salt deep winch according to claim 3, wherein the optimal control required by the deviation rectifying control track
The calculation formula of (a) is as follows:
wherein the content of the first and second substances,
is that it isλThe first derivative of (a).
5. The automatic deviation rectifying method for the warm salt deep winch according to claim 4, wherein the optimal control required by the deviation rectifying control track
Is calculated as controlling the optimum
Substituting into the Hamiltonian optimal control functionHIn，Obtaining the position and pose deviation PID controller parameters required by the deviation rectifying control trackAAndBthe optimal target trajectory model of (2):
wherein the content of the first and second substances,
。
6. an automatic deviation rectifying device for a warm salt deep winch adopting the method as claimed in any one of claims 2 to 5, comprising: the cable position identification system is used for monitoring the position of the cable in real time and transmitting the deviation direction and the deviation amount of the cable to an optimal deviation controller in an automatic deviation correction system in real time;
an automatic deviation rectifying system used for calculating an optimal control track to adjust the differential deviation rectification of the automatic sliding vehicle in real time by an optimal deviation controller in the automatic deviation rectifying system and converting the transverse deviation
And the forward deviation
As an initial value, a deviation correction target
、
Substituting the control quantity into the optimal target track model obtained in the step S44 to realize optimal control of deviation rectification of the winch device;
the automatic sliding vehicle comprises a sliding vehicle body, a driving wheel and a driver, wherein the driver is in communication connection with the automatic deviation correcting system and is used for receiving an optimal target track model command of the automatic deviation correcting system, realizing automatic control and adjustment and finally adjusting the position of the cable and the position of the automatic sliding vehicle to be kept constant.
7. The automatic deviation rectification device of the warm salt deep winch is characterized in that the automatic deviation rectification system comprises an optimal deviation controller, a PID controller and a driving feedback system.
8. The automatic deviation rectifying device for the warm salt deep winch according to claim 6, wherein the cable position identification system comprises an infrared laser scanner and an ultrasonic wave instrument.
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| CN117314915B (en) * | 2023-11-29 | 2024-02-23 | 湖南大学 | In-situ detection method, device and storage medium for microstructure processing |
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