CN113341973A - Course control method based on asymmetric phase difference of flapping wings - Google Patents

Course control method based on asymmetric phase difference of flapping wings Download PDF

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CN113341973A
CN113341973A CN202110634988.7A CN202110634988A CN113341973A CN 113341973 A CN113341973 A CN 113341973A CN 202110634988 A CN202110634988 A CN 202110634988A CN 113341973 A CN113341973 A CN 113341973A
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CN113341973B (en
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曹永辉
包天
潘光
曹勇
谢钰
马淑敏
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Northwestern Polytechnical University
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
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    • B63G8/20—Steering equipment

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Abstract

The invention relates to a heading control method based on asymmetric phase difference of flapping wings, which is characterized in that when an aircraft drifts or has a yawing trend, a fuzzy control mechanism is used for acquiring information such as the magnitude of error of heading change, the error change rate and the like, the processed information is output as the phase difference of a steering engine, then the phase difference is input into a CPG network, the steering engine output angle of the aircraft is finally obtained, and after the steering engine outputs, the current motion trend is changed or accelerated until the aircraft reaches a preset heading angle direction.

Description

Course control method based on asymmetric phase difference of flapping wings
Technical Field
The invention belongs to the field of simulated manta ray aircrafts, relates to a course control method based on asymmetric phase difference of flapping wings, and particularly relates to a fixed-range control method of the simulated manta ray aircrafts based on asymmetric phase difference of the flapping wings.
Background
The underwater unmanned aircraft has wide civil and military application prospects, such as hydrologic information acquisition, underwater and surface target monitoring and the like, the conventional aircraft propelled by the propeller has high noise and poor maneuverability, and the simulated manta ray underwater aircraft realizes better maneuverability and concealment by virtue of the bionic characteristic through pectoral fin propulsion, so that the simulated manta ray underwater aircraft can be better suitable for different underwater application scenes.
At present, a plurality of control methods are provided for solving the problem of navigation of a flexible flapping wing layout robot, but most of the control methods are only suitable for non-underwater aircrafts and the like, and no published patent provides a reliable navigation control method of an underwater vehicle based on CPG flapping wing layout. A flapping wing control method based on CPG is proposed in the document 'bionic flapping wing aircraft and control method thereof' (Wang Shaoshan et al, Beijing aerospace university, application No. CN202011170335.X), and the maneuverability and stability of flight are improved. However, the aircraft listed in the text is an imitation butterfly robot with flapping wing layout, and is difficult to be suitable for a larger underwater vehicle with flapping wing layout.
Disclosure of Invention
Technical problem to be solved
In order to avoid the defects of the prior art, the invention provides a course control method based on asymmetric phase difference of flapping wings, which solves the problems that when a simulated bat ray vehicle executes a flapping navigation task underwater, navigation and related navigation attitude control signals sent by an upper computer cannot be received, and the like.
The invention provides a method for realizing that a simulated bat ray aircraft achieves a navigation target by downloading various parameters of course information to a master control board of the aircraft in advance under an off-line state, and adjusting the course of the aircraft in a mode of adjusting a phase difference of flapping wings according to the current attitude information of the aircraft by the principle of fuzzy control.
To achieve the purpose, the principle of realizing navigation of the aircraft by adjusting the phase difference of the flapping wings is as follows:
taking an underwater navigation process of an imitative manta ray aircraft as an example for analysis and explanation, when the aircraft drifts or has a yaw trend, a fuzzy control mechanism is used for collecting information such as the magnitude of error of course change, the error change rate and the like, processed information is output to be the phase difference of a steering engine, then the phase difference is input to a CPG network, the steering engine output angle of the aircraft is finally obtained, and after the steering engine outputs, the current motion trend is changed or accelerated until the aircraft reaches a preset course angle direction.
Technical scheme
A course control method based on asymmetric phase difference of flapping wings is characterized in that: the left side of the aircraft comprises 2 steering engines which are named as a first steering engine 1 and a second steering engine 2 respectively, and the right side of the aircraft is named as a third steering engine 3 and a fourth steering engine 4; each steering engine is controlled by the output of a conversion formula to form a unit; the course control steps are as follows:
step 1: continuously obtaining the current course angle alpha of the underwater vehicle and the preset target course angle alpha through the attitude sensor0And comparing to obtain the current yaw angle e:
e＝α-α0
step 2: and (3) solving a derivative of the yaw angle with respect to time to obtain a change rate ec of the yaw angle:
Figure BDA0003105288390000021
the time t in the formula is determined by the period of information acquisition of an attitude sensor of the aircraft;
and step 3: and carrying out fuzzy processing on the obtained yaw angle and the change rate thereof, wherein the fuzzy linguistic variables are NB, namely negative large, NM, NS, namely negative small, Z, PS, namely positive small, PM, and PB, and the fuzzy set is represented as:
ec＝{NB，NM，NS，Z，PS，PM，PB}，
e＝{NB，NM，NS，Z，PS，PM，PB}，
and 4, step 4: according to the yaw angle e and the change rate ec of the yaw angle, the fuzzy number a corresponding to the yaw angle e and the yaw angle ec is searched in a fuzzy control rule table,
Figure BDA0003105288390000031
the fuzzy number is clarified, using an empirical formula:
Figure BDA0003105288390000032
converting the fuzzy number into the flapping wing phase difference required by CPG network input, wherein
Figure BDA0003105288390000033
Indicating the desired phase difference for the ith steering engine and the jth steering engine,
Figure BDA0003105288390000034
representing the actual desired phase difference;
the phase equation, the amplitude equation and the output equation of the CPG network are as follows:
Figure BDA0003105288390000035
the first equation represents the phase equation, #iRepresenting the phase, v, of the ith celliRepresenting the natural frequency, ωijRepresenting the coupling weight of the jth cell to the ith cell,
Figure BDA0003105288390000036
representing the desired phase difference;
the second equation is expressed as the amplitude equation, riDenotes the amplitude, aiNormal number, R, representing the rate of convergence of the control amplitudeiRepresenting a desired amplitude;
the third equation represents the output equation, θiRepresents an output value;
and 5: will control the quantity thetaiOutput quantity Z converted into actuator steering enginei：
Zi＝θi0+a*(θi)3
Wherein theta isi0The output zero position of the ith steering engine is shown, and a is a proportionality coefficient;
step 6: after the steering engine outputs, the aircraft moves towards the course opposite to the current movement trend or accelerating the current movement trend, finally the direction of the preset course angle is reached, and the current course angle is continuously monitored by the attitude sensor.
The topological structure of the CPG network is as follows: the first unit 1 on the left communicates with the second unit 2, and the unit 3 on the right communicates with the unit 4; establishing the relation between the left side and the right side through the second unit 2 and the third unit 3; wherein the coupling weight omega of the jth unit to the ith unitijPresence of only omega12、ω13、ω23Three forms, which can take the value of omega12＝ω34＝4、ω23＝3。
The topological structure of the CPG network is as follows: the first unit 1 on the left communicates with the second unit 2, and the unit 3 on the right communicates with the unit 4; establishing the relation between the left side and the right side through the first unit 1 and the third unit 3; wherein the coupling weight omega of the jth unit to the ith unitijPresence of only omega12、ω13、ω34Three forms, which can take the value of omega12＝ω34＝2、ω13＝1。
The topological structure of the CPG network is as follows: the first unit 1 on the left communicates with the second unit 2, and the unit 3 on the right communicates with the unit 4; establishing the relation between the left side and the right side through the first unit 1 and the third unit 3 and the second unit 2 and the fourth unit 4; wherein the coupling weight omega of the jth unit to the ith unitijPresence of only omega12、ω34、ω13、ω24Four forms, value omega12＝ω34＝4、ω13＝ω24＝2。
The topological structure of the CPG network is as follows: the first unit 1 on the left communicates with the second unit 2, and the unit 3 on the right communicates with the unit 4; establishing the relation between the left side and the right side through the second unit 2 and the third unit 3 and the first unit 1 and the fourth unit 4; wherein the coupling weight omega of the jth unit to the ith unitijPresence of only omega12、ω23、ω34、ω41Four forms, value omega12＝ω23＝ω41＝ω34＝3。
The topological structure of the CPG network is as follows: the first unit 1 on the left communicates with the second unit 2, and the unit 3 on the right communicates with the unit 4; establishing the relation between the left side and the right side through the first unit 1 and the fourth unit 4; wherein the coupling weight omega of the jth unit to the ith unitijPresence of only omega12、ω34、ω14Three forms, value is omega12＝ω34＝2、ω14＝1。
Advantageous effects
The invention provides a heading control method based on asymmetric phase difference of flapping wings.
The beneficial effects of the invention are as follows:
(1) the simulated bat ray aircraft has a great difference from the traditional propeller-propelled aircraft in a driving mode, and the course control cannot be accurately carried out by adopting the traditional method. The invention provides a reliable method for controlling the navigation of an underwater vehicle with flapping wing layout, which belongs to the field of underwater vehicles with flapping wing layout and is a navigation control method for changing the phase difference of the flapping wings, namely, the navigation is finally realized by adjusting the phase difference at two sides to generate steering torque by a fuzzy control method.
(2) The method adopts fuzzy control, can adjust the course of the aircraft without establishing a dynamic model of the aircraft, enhances the maneuverability of the aircraft, and better adapts to various complex environments.
(3) When the control quantity is converted into the output quantity, a 3-time function is adopted, and the method has the advantages that when the required phase difference is large, the output value of the steering engine is also large, so that the aircraft can quickly recover the course; when the required phase difference is small, the output value of the steering engine is small, the overshoot can be reduced, and the dynamic and steady-state performance of course control is improved.
Drawings
FIG. 1 is a control flow chart of the present invention based on the heading control of flapping wing phase difference.
FIG. 2 is a triangular membership function curve for fuzzy control according to an embodiment of the present invention.
FIG. 3 is a connection diagram of a CPG topology 1 constructed by the present invention;
FIG. 4 is a schematic connection diagram of a CPG topology 2 constructed by the present invention;
FIG. 5 is a schematic connection diagram of CPG topology 3 constructed by the present invention;
FIG. 6 is a schematic connection diagram of CPG topology 4 constructed by the present invention;
FIG. 7 is a schematic connection diagram of CPG topology 4 constructed by the present invention;
FIG. 8 is a chart of course angle versus time for a predetermined course angle of 200 degrees, according to an embodiment of the present invention.
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
the method comprises the following steps:
1. continuously obtaining the current course angle alpha of the underwater vehicle and the preset target course angle alpha through the attitude sensor0Comparing to obtain the current yaw angle e
e＝α-α0 (1)
2. Calculating the derivative of the yaw angle with respect to time to obtain the change rate ec of the yaw angle
Figure BDA0003105288390000061
The time t in the equation is determined by the period during which the attitude sensor of the aircraft collects information.
3. The obtained yaw angle and the change rate thereof are subjected to fuzzy processing, and a fuzzy set can be expressed as { -6, -5, -4, -3, -2, -1, 0, 1, 2, 3, 4, 5, 6}
In the embodiment of the invention, the fuzzy control membership function adopts a triangular membership function as shown in figure 2, and a preferable fuzzy rule is shown in table 2.
TABLE 2 course fuzzy control look-up table
Figure BDA0003105288390000062
Figure BDA0003105288390000071
4. Looking up a table in the fuzzy set: according to the yaw angle e and the change rate ec of the yaw angle, the fuzzy number a corresponding to the yaw angle e and the change rate ec at the moment is searched in a fuzzy control rule table, the fuzzy number is clarified, and an empirical formula is utilized
Figure BDA0003105288390000072
Converting the fuzzy number into the flapping wing phase difference required by CPG network input, wherein
Figure BDA0003105288390000073
Indicating the desired phase difference for the ith steering engine and the jth steering engine,
Figure BDA0003105288390000074
representing the actual desired phase difference.
5. The topology structure of the simulated ray aircraft based on the invention is shown in the attached figure 3, and adopts a simplest connection CPG phase oscillator model, and the phase equation, the amplitude equation and the output equation of the CPG of the model are as follows.
Figure BDA0003105288390000075
The first equation represents the phase equation, #iRepresenting the phase, v, of the ith celliRepresenting the natural frequency, ωijRepresenting the coupling weight of the jth cell to the ith cell,
Figure BDA0003105288390000076
representing the desired phase difference;
the second equation is expressed as the amplitude equation, riDenotes the amplitude, aiNormal number, R, representing the rate of convergence of the control amplitudeiRepresenting a desired amplitude;
the third equation represents the output equation, θiRepresenting the output value.
The mutual connection between the steering engines is realized by coupling terms, omegaijRepresenting the coupling term of the j-th cell to the i-th cell, in such a way that ωijPresence of only omega12、ω13、ω23Three forms, which can take the value of omega12＝ω34＝4、ω23＝3。
6. Converting the control quantity obtained in the step 5 into an output quantity Z of an actuator steering engine,
Zi＝θi0+a*(θi)3 (4)
in this example, a is 0.75.
After the steering engine outputs, the aircraft moves towards the course opposite to the current movement trend or accelerating the current movement trend, finally the direction of the preset course angle is reached, and the current course angle is continuously monitored by the attitude sensor.
Fig. 8 is a sea trial test performed by an manta ray simulated aircraft based on the principle of phase difference course control, and it can be seen from data that the aircraft can still maintain course at higher precision and faster time in the face of ocean currents and other interference factors which are difficult to predict due to the adoption of fuzzy control, thereby proving the effectiveness and the capability of adapting to complex environments of the method.
When the CPG phase oscillator model topology adopts the graph of FIG. 3, the unit connection in the oscillator model is the unit 1 and the unit 2; unit 1 is connected with unit 3; unit 3 is connected to unit 4. OmegaijRepresenting the coupling term of the j-th cell to the i-th cell, in such a way that ωijPresence of only omega12、ω13、ω34Three forms, which can take the value of omega12＝ω34＝2、ω13＝1。
When the CPG phase oscillator model topology adopts the graph of FIG. 4, the unit connection in the oscillator model is the unit 1 and the unit 2; unit 3 is connected with unit 4; unit 1 is connected with unit 3; unit 2 is connected to unit 4. OmegaijRepresenting the coupling term of the j-th cell to the i-th cell, in such a way that ωijPresence of only omega12、ω34、ω13、ω24Four forms, which can take the value of omega12＝ω34＝4、ω13＝ω24＝2。
When the CPG phase oscillator model topology adopts the graph of FIG. 5, the unit connection in the oscillator model is that the unit 1 is connected with the unit 2; unit 2 is connected with unit 3; unit 3 is connected with unit 4; unit 4 is connected to unit 1. OmegaijRepresenting the coupling term of the j-th cell to the i-th cell, in such a way that ωijPresence of only omega12、ω23、ω34、ω41Four forms, which can take the value of omega12＝ω23＝ω41＝ω34＝3。
When the CPG phase oscillator model topology adopts the graph of FIG. 6, the unit connection in the oscillator model is the unit 1 and the unit 2; unit 3 is connected with unit 4; unit 1 is connected to unit 4. OmegaijRepresenting the coupling term of the j-th cell to the i-th cell, in such a way that ωijPresence of only omega12、ω34、ω14Three forms, which can take the value of omega12＝ω34＝2、ω14＝1。

Claims (6)

1. A course control method based on asymmetric phase difference of flapping wings is characterized in that: the left side of the aircraft comprises 2 steering engines which are named as a first steering engine (1) and a second steering engine (2) respectively, and the right side of the aircraft is named as a third steering engine (3) and a fourth steering engine (4); each steering engine is controlled by the output of a conversion formula to form a unit; the course control steps are as follows:
step 1: continuously obtaining the current course angle alpha of the underwater vehicle and the preset target course angle alpha through the attitude sensor0Comparing to obtain the currentYaw angle e:
e＝α-α0
step 2: and (3) solving a derivative of the yaw angle with respect to time to obtain a change rate ec of the yaw angle:
Figure FDA0003105288380000011
the time t in the formula is determined by the period of information acquisition of an attitude sensor of the aircraft;
and step 3: and carrying out fuzzy processing on the obtained yaw angle and the change rate thereof, wherein the fuzzy linguistic variables are NB, namely negative large, NM, NS, namely negative small, Z, PS, namely positive small, PM, and PB, and the fuzzy set is represented as:
ec＝{NB,NM,NS,Z,PS,PM,PB}，
e＝{NB,NM,NS,Z,PS,PM,PB}，
and 4, step 4: according to the yaw angle e and the change rate ec of the yaw angle, searching fuzzy numbers a corresponding to the yaw angle e and the yaw angle ec in a fuzzy control rule table:
Figure FDA0003105288380000012
the fuzzy number is clarified, using an empirical formula:
Figure FDA0003105288380000021
converting the fuzzy number into the flapping wing phase difference required by CPG network input, wherein
Figure FDA0003105288380000022
Indicating the desired phase difference for the ith steering engine and the jth steering engine,
Figure FDA0003105288380000023
representing the actual desired phase difference;
the phase equation, the amplitude equation and the output equation of the CPG network are as follows:
Figure FDA0003105288380000024
the first equation represents the phase equation, #iRepresenting the phase, v, of the ith celliRepresenting the natural frequency, ωijRepresenting the coupling weight of the jth cell to the ith cell,
Figure FDA0003105288380000025
representing the desired phase difference;
the second equation is expressed as the amplitude equation, riDenotes the amplitude, aiNormal number, R, representing the rate of convergence of the control amplitudeiRepresenting a desired amplitude;
the third equation represents the output equation, θiRepresents an output value;
and 5: will control the quantity thetaiOutput quantity Z converted into actuator steering enginei：
Zi＝θi0+a*(θi)3
Wherein theta isi0The output zero position of the ith steering engine is shown, and a is a proportionality coefficient;
step 6: after the steering engine outputs, the aircraft moves towards the course opposite to the current movement trend or accelerating the current movement trend, finally the direction of the preset course angle is reached, and the current course angle is continuously monitored by the attitude sensor.
2. The heading control method based on the asymmetric phase difference of the flapping wings of claim 1, wherein: the CPG network is characterized in that the topological structure of the CPG network is as follows: the first unit (1) on the left side is in communication with the second unit (2), and the unit (3) on the right side is in communication with the unit (4); establishing a connection between the left side and the right side through the second unit (2) and the third unit (3); wherein the coupling weight omega of the jth unit to the ith unitijPresence of only omega12、ω13、ω23Three kinds ofForm, can take the value omega12＝ω34＝4、ω23＝3。
3. The course control method based on the asymmetric phase difference of the flapping wings as claimed in claim 1, wherein the topological structure of the CPG network is as follows: the first unit (1) on the left side is in communication with the second unit (2), and the unit (3) on the right side is in communication with the unit (4); establishing a connection between the left side and the right side through the first unit (1) and the third unit (3); wherein the coupling weight omega of the jth unit to the ith unitijPresence of only omega12、ω13、ω34Three forms, which can take the value of omega12＝ω34＝2、ω13＝1。
4. The course control method based on the asymmetric phase difference of the flapping wings as claimed in claim 1, wherein the topological structure of the CPG network is as follows: the first unit (1) on the left side is in communication with the second unit (2), and the unit (3) on the right side is in communication with the unit (4); establishing a relation between the left side and the right side through the first unit (1) and the third unit (3) and the second unit (2) and the fourth unit (4); wherein the coupling weight omega of the jth unit to the ith unitijPresence of only omega12、ω34、ω13、ω24Four forms, value omega12＝ω34＝4、ω13＝ω24＝2。
5. The course control method based on the asymmetric phase difference of the flapping wings as claimed in claim 1, wherein the topological structure of the CPG network is as follows: the first unit (1) on the left side is in communication with the second unit (2), and the unit (3) on the right side is in communication with the unit (4); establishing a relation between the left side and the right side through the second unit (2) and the third unit (3) and the first unit (1) and the fourth unit (4); wherein the coupling weight omega of the jth unit to the ith unitijPresence of only omega12、ω23、ω34、ω41Four forms, value omega12＝ω23＝ω41＝ω34＝3。
6. The course control method based on the asymmetric phase difference of the flapping wings as claimed in claim 1, wherein the topological structure of the CPG network is as follows: the first unit (1) on the left side is in communication with the second unit (2), and the unit (3) on the right side is in communication with the unit (4); establishing a connection between the left side and the right side through the first unit (1) and the fourth unit (4); wherein the coupling weight omega of the jth unit to the ith unitijPresence of only omega12、ω34、ω14Three forms, value is omega12＝ω34＝2、ω14＝1。
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