CN113625546B - Stabilizing control anti-saturation method for shipborne stabilized platform - Google Patents
Stabilizing control anti-saturation method for shipborne stabilized platform Download PDFInfo
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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Abstract
The invention discloses a stabilizing control anti-saturation method for a ship-borne stable platform, which comprises the following steps: designing a virtual control stabilizing function of the shipborne stabilizing platform; designing an anti-saturation calm control law of a ship-borne stable platform: defining new error vectors, designing an auxiliary dynamic system as follows, designing a piecewise continuous function vector, and designing a stabilizing control law of the shipborne stabilizing platform. According to the invention, the novel auxiliary dynamic system is designed, and the state vector is introduced into the stability control law design of the shipborne stable platform, so that the influence of the control input saturation of the shipborne stable platform can be effectively compensated, and the stability control of the shipborne stable platform under the condition of the input saturation is ensured. The auxiliary dynamic system based on the continuous function vector, which is designed by the invention, can still have the input saturation compensation capability when the input saturation of the shipborne stable platform occurs again.
Description
Technical Field
The invention relates to equipment control technology in the field of ship and ocean engineering, in particular to a stabilizing control anti-saturation method for a ship-borne stable platform.
Background
The ship can generate motion with six degrees of freedom of rolling, pitching, bowing, swaying, pitching and heaving under the influence of the marine environment such as wind, wave and current, and the operation safety of equipment on the ship is seriously influenced. The ship dynamic positioning system can restrain the rolling, pitching and pitching movements of the ship, and the rolling, pitching and pitching movements of the ship need to isolate the influence of the ship dynamic positioning system on equipment on the ship through the ship-borne stable platform, so that the relative inertial space of a supporting surface on the ship-borne stable platform is kept stable, and the equipment on the ship can safely and stably operate.
In practice, there is input saturation of the shipboard stabilized platform due to the physical limitations of its actuators. Due to the reasons of load change, abrupt change of working conditions and the like of the shipborne stabilized platform, the instruction control input given by the shipborne stabilized platform stabilizing control system according to the control algorithm may exceed the maximum control force provided by the execution mechanism of the shipborne stabilized platform stabilizing control system, the stability control performance of the shipborne stabilized platform is reduced under the influence of input saturation, and even the stability control system is unstable. Therefore, the research on the anti-saturation method for stabilizing and controlling the shipborne stable platform has important practical significance.
Chinese patent No. CN113031429a discloses a shipborne carrier stabilizing platform and control method, and uses PID control algorithm to realize stabilizing control of the shipborne carrier stabilizing platform. The invention of China patent CN109739248A discloses a stabilizing control method of a shipborne three-degree-of-freedom parallel stable platform based on ADRC, a distention state observer is constructed to estimate the total disturbance formed by the dynamic uncertainty of the shipborne stable platform and the equivalent disturbance force to the platform caused by the ship swinging motion due to the marine environment disturbance in real time, and the stabilizing control law of the shipborne carrier stable platform is designed by combining with a PD control algorithm, so that the stabilizing control is realized. However, none of the above patents take into account the on-board stabilizing platform control input saturation problem.
The Nanjing ship radar research is entitled "self-adaptive control of reference of ship-borne radar stabilized platform model", and the stability control law of the ship-borne radar stabilized platform is designed based on the self-adaptive technology in consideration of the input saturation characteristic of the ship-borne stabilized platform, however, the input saturation is not compensated.
Chinese patent CN105676854a proposes a three degree of freedom helicopter anti-saturation attitude tracking control method, and the design of the auxiliary dynamic system compensates for the influence of the saturation of the helicopter attitude tracking control input. However, since the designed auxiliary dynamic system is discontinuous, it has a compensation function only when control input saturation first occurs.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an anti-saturation method for stabilizing and controlling a shipborne stabilizing platform, which effectively compensates the influence of input saturation of the shipborne stabilizing platform, and ensures that the input saturation of the shipborne stabilizing platform is still anti-saturation when the input saturation of the shipborne stabilizing platform occurs again, thereby ensuring that the stabilizing and controlling of the shipborne stabilizing platform is performed under the condition of input saturation.
In order to achieve the above purpose, the technical scheme of the invention is as follows: the dynamic equation of the shipborne stable platform is shown as formula (1):
in the method, in the process of the invention,for the pose of the supporting surface on the ship-borne stable platform under the inertial coordinate system, the lifting displacement z and the transverse rocking angle +.>And pitch angle θ, +.>And->The first derivative and the second derivative of p, respectively; m (p) ∈R 3×3 Is an inertial matrix->For the Ke's centripetal force matrix, G (p) ∈R 3 Gravity vector, τ= [ τ ] 1 ,τ 2 ,τ 3 ] T Is used as a control input vector of the shipborne stabilized platform and is controlled by a heave control force tau 1 Control moment tau of cross-arm 2 And pitch control moment τ 3 Composition is prepared. The mathematical description of the saturation of the control input of the shipborne stabilizing platform is:
wherein τ i,max > 0 and τ i,min < 0 is the upper and lower saturation limits, τ, of the control input of the shipboard stabilized platform, respectively c,i The control input is used for controlling the stabilizing of the shipborne stabilizing platform. Recording tau c ＝[τ c,1 ,τ c,2 ,τ c,3 ] T Command control input vector, Δτ=τ, representing ballast control of the stabilized platform on board the ship c - τ represents the offset of the command control input and the actual control input of the ballast control of the stabilized on-board platformAnd (3) difference.
The stabilizing control anti-saturation method for the shipborne stabilized platform comprises the following steps of:
A. virtual control stabilizing function for designing shipborne stabilizing platform
Set the expected pose of the supporting surface on the ship-borne stable platform in the inertial coordinate system asBy desired heave displacement z d Desired cross angle->And a desired pitch angle theta d The composition defines the pose error vector of the supporting surface on the shipborne stable platform under the inertial coordinate system as S 1 ＝p-p d Its first derivative +.>The method comprises the following steps:
will beIs regarded as a virtual control input to subsystem (3), for->Designing a stabilizing function alpha:
wherein K is 1 Is a 3 x 3 dimensional positive design matrix.
B. Design of anti-saturation calm control law of ship-borne stable platform
B1, defining a new error vectorAccording to formulas (1) - (4), for S 2 And (3) derivative:
b2, designing an auxiliary dynamic system as follows:
wherein K is ρ Is a 3 x 3 dimensional positive design matrix; ρ is the state vector of the auxiliary dynamic system; phi (S) 2 Δτ, ρ) is a piecewise continuous function vector.
B3, designing a piecewise continuous function vector phi (S 2 ,Δτ,ρ)：
Wherein ρ is a And ρ b Are all positive design constants and satisfy ρ a ＜ρ b 。
B4, designing stabilizing control law of shipborne stabilizing platform
Wherein K is 2 And K s Is a 3 x 3 dimensional positive design matrix.
The stabilizing control law of the shipborne stabilizing platform comprises a feedback control law and an anti-saturation control law. The feedback control law is used for eliminating errors between the pose of the supporting surface on the shipborne stabilized platform in the inertial coordinate system and the expected pose; the anti-saturation control law is used for compensating the saturation of the control input of the shipborne stable platform.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the novel auxiliary dynamic system is designed, and the state vector is introduced into the stability control law design of the shipborne stable platform, so that the influence of the control input saturation of the shipborne stable platform can be effectively compensated, and the stability control of the shipborne stable platform under the condition of the input saturation is ensured.
2. The auxiliary dynamic system based on the continuous function vector, which is designed by the invention, can still have the input saturation compensation capability when the input saturation of the shipborne stable platform repeatedly happens.
Drawings
FIG. 1 is a schematic diagram of a method for stabilizing and controlling anti-saturation of a shipborne stabilized platform.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, the principle of the stabilization control anti-saturation method of the shipborne stabilized platform is as follows: the pose p of the supporting surface on the shipborne stable platform under the inertial coordinate system is fed back to the reference input end of the shipborne stable platform and is matched with the expected pose p of the supporting surface on the shipborne stable platform d Comparing to form a pose error vector S of the supporting surface on the shipborne stable platform under an inertial coordinate system 1 Based on the virtual control stabilizing function alpha of the shipborne stabilizing platform is designed; designing an auxiliary dynamic system based on novel piecewise continuous function vector, wherein the auxiliary dynamic system utilizes virtual control stabilizing function alpha and first-order guiding of supporting surface pose on-board stabilizing platformAnd the deviation delta tau of the instruction control input and the actual control input of the stabilizing of the shipborne stabilized platform, generating a state vector rho; further, designing an anti-saturation stabilization control law of the shipborne stabilized platform; first-order guide of pose of supporting surface on shipborne stable platform under inertial coordinate system according to virtual control stabilizing function alpha>And a state vector ρ of the auxiliary dynamic system, a calm control law generating control input τ c The shipborne stable platform is pressed to be in the expected pose p d And has an anti-inflammatory effectAbility to saturate.
The present invention is not limited to the present embodiment, and any equivalent concept or modification within the technical scope of the present invention is listed as the protection scope of the present invention.
Claims (1)
1. A stabilizing control anti-saturation method for a ship-borne stable platform is characterized by comprising the following steps of: the dynamic equation of the shipborne stable platform is shown as formula (1):
in the method, in the process of the invention,for the pose of the supporting surface on the ship-borne stable platform under the inertial coordinate system, the lifting displacement z and the transverse rocking angle +.>And pitch angle θ, +.>And->The first derivative and the second derivative of p, respectively; m (p) ∈R 3×3 Is a matrix of inertia which is a matrix of inertia,for the Ke's centripetal force matrix, G (p) ∈R 3 Gravity vector, τ= [ τ ] 1 ,τ 2 ,τ 3 ] T Is used as a control input vector of the shipborne stabilized platform and is controlled by a heave control force tau 1 Control moment tau of cross-arm 2 And pitch control moment τ 3 Composition; the mathematical description of the saturation of the control input of the shipborne stabilizing platform is:
wherein τ i,max > 0 and τ i,min < 0 is the upper and lower saturation limits, τ, of the control input of the shipboard stabilized platform, respectively c , i The control input is used for controlling the stabilizing of the shipborne stabilized platform; recording tau c ＝[τ c,1 ,τ c,2 ,τ c,3 ] T Command control input vector, Δτ=τ, representing ballast control of the stabilized platform on board the ship c - τ represents the deviation of the command control input and the actual control input of the ballast control of the on-board stabilized platform;
the stabilizing control anti-saturation method for the shipborne stabilized platform comprises the following steps of:
A. virtual control stabilizing function for designing shipborne stabilizing platform
Set the expected pose of the supporting surface on the ship-borne stable platform in the inertial coordinate system asBy desired heave displacement z d Desired cross angle->And a desired pitch angle theta d The composition defines the pose error vector of the supporting surface on the shipborne stable platform under the inertial coordinate system as S 1 ＝p-p d Its first derivative +.>The method comprises the following steps:
will beIs regarded as a virtual control input to subsystem (3), for->Designing a stabilizing function alpha:
wherein K is 1 Is a 3 x 3 dimensional positive design matrix;
B. design of anti-saturation calm control law of ship-borne stable platform
B1, defining a new error vectorAccording to formulas (1) - (4), for S 2 And (3) derivative:
b2, designing an auxiliary dynamic system as follows:
wherein K is ρ Is a 3 x 3 dimensional positive design matrix; ρ is the state vector of the auxiliary dynamic system; phi (S) 2 Δτ, ρ) is a piecewise continuous function vector;
b3, designing a piecewise continuous function vector phi (S 2 ,Δτ,ρ)：
Wherein ρ is a And ρ b Are all positive design constants and satisfy ρ a ＜ρ b ；
B4, designing stabilizing control law of shipborne stabilizing platform
Wherein K is 2 And K s Is a 3 x 3 dimensional positive design matrix;
the stabilizing control law of the shipborne stabilizing platform comprises a feedback control law and an anti-saturation control law; the feedback control law is used for eliminating errors between the pose of the supporting surface on the shipborne stabilized platform in the inertial coordinate system and the expected pose; the anti-saturation control law is used for compensating the saturation of the control input of the shipborne stable platform.
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| CN103207568A (en) * | 2013-03-18 | 2013-07-17 | 哈尔滨工程大学 | Steering engine saturation resistant self-adaptive control method for ship courses |
| CN104252177A (en) * | 2013-06-27 | 2014-12-31 | 上海新跃仪表厂 | Ground target staring anti-saturation tracking control method of microsatellite |
| CN109739248A (en) * | 2019-01-07 | 2019-05-10 | 大连海事大学 | Boat-carrying freedom degree parallel connection stabilized platform stable control method based on ADRC |
| CN110333658A (en) * | 2019-07-11 | 2019-10-15 | 上海海事大学 | A kind of underactuated surface vessel course heading control method compensated with input constraint and drift angle |
| CN110687789A (en) * | 2019-10-18 | 2020-01-14 | 上海工程技术大学 | Anti-saturation control system based on integer function |
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| US6655631B2 (en) * | 2000-07-28 | 2003-12-02 | John Frederick Austen-Brown | Personal hoverplane with four tiltmotors |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103207568A (en) * | 2013-03-18 | 2013-07-17 | 哈尔滨工程大学 | Steering engine saturation resistant self-adaptive control method for ship courses |
| CN104252177A (en) * | 2013-06-27 | 2014-12-31 | 上海新跃仪表厂 | Ground target staring anti-saturation tracking control method of microsatellite |
| CN109739248A (en) * | 2019-01-07 | 2019-05-10 | 大连海事大学 | Boat-carrying freedom degree parallel connection stabilized platform stable control method based on ADRC |
| CN110333658A (en) * | 2019-07-11 | 2019-10-15 | 上海海事大学 | A kind of underactuated surface vessel course heading control method compensated with input constraint and drift angle |
| CN110687789A (en) * | 2019-10-18 | 2020-01-14 | 上海工程技术大学 | Anti-saturation control system based on integer function |
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