CN113791623B - Under-actuated ship course guidance method with roll constraint - Google Patents
Under-actuated ship course guidance method with roll constraint Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention provides an under-actuated ship course guidance method with roll constraint, which comprises the following specific steps: step S1, setting a route (x) p (ω),y p (ω)) and a path parameter ω; step S2, obtaining the coordinates (x) of the route point according to the step S1 p ,y p ) Information and path tangential angle alpha p Information; s3, obtaining ship position coordinate (x, y) information and ship motion state information through measurement; s4, estimating a transverse drift angle according to the ship position coordinate information and the ship motion state information obtained in the step S3; step S5, calculating an instruction course angle psi by combining the ship information obtained in the steps S1-S4 d . The invention effectively improves the accuracy of the instruction course angle under severe sea conditions and realizes accurate control of the ship course.
Description
Technical Field
The invention relates to the technical field of ship motion control, in particular to an under-actuated ship course guidance method with roll constraint.
Background
The ship can not avoid six-degree-of-freedom swinging movement when sailing in stormy waves, wherein the swinging movement is the most intense, and the great swinging movement seriously affects the normal operation of electrical equipment, the safe sailing of the ship and the comfort of crews. The motion control devices of under-actuated vessels are typically heading control devices (rudders) and propulsion control devices (thrusters), with no corresponding control devices for yaw and roll motions. The path tracking control of the under-actuated ship plays an important role in the technical field of ship motion control, and a ship course control system is required to track a pre-planned path or track at a constant speed according to an instruction course angle calculated by a course guidance rule, and a currently commonly used course guidance method is an LOS (line of sight) method.
The course guidance law is an important part in a path tracking control system, and a ship path tracking horizontal plane coordinate system is shown in fig. 1, wherein: XOY is the geodetic coordinate system, (x) p (ω),y p (ω)) is a parameterized path, ω is a path parameter, and the parameter ω is omitted for convenience, and the path point coordinates are abbreviated as (x) p ,y p ) (x, y) is the ship position coordinate, x e For tangential tracking error, y e Is vertical tracking error, psi is course angle, beta is transverse drift angle, alpha p The tangential angle of the path is v, the cross-swing speed is U, the heave speed is U, the navigational speed is U, and delta is the forward looking distance. Wherein, the ship position information can be obtained by GPS global positioning system measurement, and the ship motion state information (comprising a heave speed u, a roll angle phi, a course angle phi and the like) can be obtained by gyroscope measurement. Aiming at the parameterized path tracking control problem, the currently proposed LOS method (such as proportional LOS, integral LOS, adaptive LOS and the like) basically considers the transverse drift angle estimation and the vertical tracking error convergence problem, the tangential tracking error convergence problem is less considered, and meanwhile, the influence of the large-amplitude rolling motion on the course angle and the course guidance rule is not considered, so that the influence of the large-amplitude rolling motion on the course angle and the course guidance rule in stormy waves is greatly consideredUnder-actuated vessel path tracking control is considered inadequate. Therefore, for an under-actuated ship without a roll stabilization control device, a course guidance method considering roll restraint will help to improve the path tracking accuracy of the under-actuated ship.
Disclosure of Invention
The invention aims to provide an under-actuated ship course guidance method with roll constraint, which solves the problem of tracking accuracy of under-actuated ship path control of large roll under severe sea conditions.
In order to achieve the above purpose, the invention provides an under-actuated ship course guidance method with roll constraint, which comprises the following specific steps: step S1, setting a route (x) p (ω),y p (ω)) and a path parameter ω; step S2, obtaining the coordinates (x) of the route point according to the step S1 p ,y p ) Information and path tangential angle alpha p Information; s3, obtaining ship position coordinate (x, y) information and ship motion state information through measurement; s4, estimating a transverse drift angle according to the ship position coordinate information and the ship motion state information obtained in the step S3; step S5, calculating an instruction course angle psi by combining the ship information obtained in the steps S1-S4 d 。
Preferably, the ship motion state information in step S3 includes a pitch velocity u, a roll angle phi, a heading angle phi, a roll angle velocity p, and a heading angle velocity r at a same time t.
Preferably, the step S4 of estimating the lateral drift angle specifically includes the steps of:
step S401, calculating tangential tracking error x according to ship position coordinate (x, y) information of a certain same t time e And vertical tracking error y e ；
Step S402, according to the tangential tracking error x in step S401 e And vertical tracking error y e Calculating an estimate of the lateral drift angle beta
Preferably, the estimated value of the lateral drift angle β in step S402The following formula is adopted for calculation:
wherein,is an estimate of g.
Preferably, the tangential tracking error x described in step S401 e And vertical tracking error y e The calculation formula of (2) is as follows:
preferably, the path parameter ω according to step S1 is a function of time t, and is calculated from an updated law formula:
wherein u is the cross-swing speed, ψ is the course angle, α p (ω) is the path tangential angle, x e For tangential tracking error, x' p (omega) is x p (omega) derivative of omega, y' p (omega) is y p (ω) derivative of ω, k being a designed positive constant,is the derivative of ω with time t; (x) p (ω),y p (ω)) is the coordinates of the points constituting the path.
Preferably, the tangential angle α of the path described in step S2 p Calculated from the following formula:
wherein, the coordinates (x p ,y p ) And a path tangential angle alpha p Respectively by paths (x p (ω),y p (ω)) and path tangential angle α p (ω) is calculated at some same time t.
Preferably, the relationship between the ship motion state and the ship position in step S3 is described by a four-degree-of-freedom kinematic coupling model, and the model expression is as follows:
wherein,derivatives of ship position coordinates (x, y) with respect to time t, v is heave speed, u is cross speed,/v>Is the derivative of roll angle phi with respect to time t, is->Is the derivative of heading angle ψ over time t.
Preferably, the saidThe method can be calculated by a method of a reduced order observer, and the formula of the reduced order observer is as follows:
wherein M is a virtual state,for M, the derivative of time t, k 1 For positive constants of design, +.>Alpha is alpha p Derivative with respect to time t.
Preferably, the tangential angle alpha is tangential to the path according to the acquired path p Estimation of lateral drift angle betaAnd vertical tracking error y e The command heading angle ψ in step S5 d The following formula is adopted for calculation:
where Δ is the forward looking distance.
In summary, compared with the prior art, the under-actuated ship course guidance method with roll constraint provided by the invention has the following beneficial effects: the influence of the under-actuated ship to the course angle and the course guidance law under the severe sea condition is considered, and the transverse drift angle estimation is obtained through calculation by the measured ship motion state, so that the accuracy of the instruction course angle under the severe sea condition is effectively improved, and the accurate control of the ship course is realized.
Drawings
FIG. 1 is a schematic diagram of a path tracking coordinate system of an under-actuated ship heading guidance method with roll constraint of the present invention;
fig. 2 is a schematic diagram of a calculation flow of an instruction heading angle of the under-actuated ship heading guidance method with roll constraint according to the present invention.
Detailed Description
The technical scheme, constructional features, achieved objects and effects of the embodiments of the present invention will be described in detail below with reference to fig. 1 to 2 in the embodiments of the present invention.
It should be noted that, the drawings are in very simplified form and all use non-precise proportions, which are only used for the purpose of conveniently and clearly assisting in describing the embodiments of the present invention, and are not intended to limit the implementation conditions of the present invention, so that the present invention has no technical significance, and any modification of structure, change of proportion or adjustment of size, without affecting the efficacy and achievement of the present invention, should still fall within the scope covered by the technical content disclosed by the present invention.
It should be noted that, in the present invention, 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.
The invention provides an under-actuated ship course guidance method with roll constraint, which comprises the following steps as shown in fig. 1 and 2:
step S1, setting a route (x) p (ω),y p (ω)) and a path parameter ω.
Wherein, the path parameter ω in step S1 is a function of time t, and the path parameter ω is calculated by the following update rule formula:
in the formula (1), u is the cross-swing speed, psi is the course angle and alpha p (ω) is the path tangential angle, x e For tangential tracking error, x' p (omega) is x p (omega) derivative of omega, y' p (omega) is y p (ω) derivative of ω, k being a designed positive constant,is the derivative of ω with time t; (x) p (ω),y p (ω)) is coordinates of points constituting the path;
further, the path tangential angle α p (ω) is calculated by the following formula:
step S2, obtaining the coordinates (x) of the route point at the time t according to the step S1 p ,y p ) Information and path tangential angle alpha at time t p Information.
And S3, obtaining ship position coordinate (x, y) information of the t time according to GPS global positioning system measurement, and obtaining ship motion state information of the t time through a gyroscope arranged on the ship.
The ship motion state information in step S3 includes a pitch velocity u, a roll angle phi, a heading angle phi, a roll angular velocity p, and a heading angular velocity r.
Further, the relationship between the ship motion state and the ship position is described by a four-degree-of-freedom kinematic coupling model, which is specifically as follows:
in the formula (3), the amino acid sequence of the compound,derivatives of ship position coordinates (x, y) with respect to time t, v is heave speed, u is cross speed,/v>Is the derivative of roll angle phi with respect to time t, is->Is the derivative of heading angle ψ over time t.
And S4, estimating a transverse drift angle according to the ship position coordinate information and the ship motion state information obtained in the step S3, wherein the method specifically comprises the following steps of:
step S401, calculating tangential tracking error x according to the ship position coordinate (x, y) information e And vertical tracking error y e The calculation formula is as follows:
step S402, according to the tangential tracking error x in step S401 e And vertical tracking error y e Calculating an estimate of the lateral drift angle beta
Wherein the estimated value of the lateral drift angle beta in step S402The following formula is adopted for calculation:
in the formula (5), the amino acid sequence of the compound,is an estimate of g.
Further, the saidThe method can be calculated by a method of a reduced order observer, and the formula of the reduced order observer is as follows:
in the formula (6), M is a virtual state,for M, the derivative of time t, k 1 For positive constants of design, +.>Alpha is alpha p Derivative with respect to time t.
Step S5, obtaining the tangential angle alpha of the path according to the steps S1-S4 p Estimation of lateral drift angle betaAnd vertical tracking error y e Calculating an instruction course angle phi d 。
Wherein, the instruction heading angle psi in the step S5 d The following formula is adopted for calculation:
in formula (7), Δ is the forward looking distance, typically 2 to 3 times the ship's length.
The command heading angle ψ calculated and obtained according to the step S5 d The ship course angle psi is enabled to obtain the tracking instruction course angle psi d I.e. the vessel can follow the commanded heading angle ψ d And adjusting the navigation direction of the ship, realizing the course control of the ship and completing the course guidance of the ship.
In summary, compared with the existing under-actuated ship course guidance method, the under-actuated ship course guidance method with roll constraint provided by the invention has the advantages that the influence of the under-actuated ship large-amplitude roll motion on the course angle and the course guidance rule under severe sea conditions is considered, so that the accuracy of the instruction course angle under the severe sea conditions can be effectively improved, and the like.
While the present invention has been described in detail through the foregoing description of the preferred embodiment, it should be understood that the foregoing description is not to be considered as limiting the invention. Many modifications and substitutions of the present invention will become apparent to those of ordinary skill in the art upon reading the foregoing. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (3)
1. An under-actuated ship course guidance method with cross constraint is characterized by comprising the following steps:
step S1, setting a route (x) p (ω),y p (ω)) and a path parameter ω;
step S2, obtaining the coordinates (x) of the route point according to the step S1 p ,y p ) Information and path tangential angle alpha p Information;
s3, obtaining ship position coordinate (x, y) information and ship motion state information through measurement;
s4, estimating a transverse drift angle according to the ship position coordinate information and the ship motion state information obtained in the step S3;
step S5, calculating an instruction course angle psi by combining the ship information obtained in the steps S1-S4 d ；
The path tangential angle alpha described in step S2 p Calculated from the following formula:
wherein, the coordinates (x p ,y p ) And a path tangential angle alpha p Respectively by paths (x p (ω),y p (ω)) and path tangential angle α p (ω) is calculated at some same time t;
the ship motion state information in the step S3 includes a pitch speed u, a yaw angle phi, a heading angle phi, a yaw angle speed p and a heading angle speed r at a certain same time t;
the step S4 of estimating the lateral drift angle specifically includes the steps of:
step S401, calculating tangential tracking error xe and vertical tracking error y according to ship position coordinate (x, y) information of a certain same t time e ；
Step S402, according to the tangential tracking error x in step S401 e And vertical tracking error y e Calculating an estimate of the lateral drift angle beta
The calculation formulas of the tangential tracking error xe and the vertical tracking error ye in step S401 are as follows:
x e ＝(x-x p )cosα p +(y-y p )sinα p
y e ＝-(x-x p )sinα p +(y-y p )cosα p
an estimated value of the lateral drift angle beta in step S402The following formula is adopted for calculation:
wherein,an estimate of g;
the said processThe method can be calculated by a method of a reduced order observer, and the formula of the reduced order observer is as follows:
wherein M is a virtual state,for M, the derivative of time t, k 1 For positive constants of design, +.>Alpha is alpha p Derivative with respect to time t;
from the acquired path tangential angle alpha p Estimation of lateral drift angle betaAnd vertical tracking error y e The command heading angle ψ in step S5 d The following formula is adopted for calculation:
where Δ is the forward looking distance.
2. The under-actuated marine heading guidance method with cross-roll restraint as claimed in claim 1, wherein the path parameter ω of step S1 is a function of time t, and the path parameter ω is calculated by the following updated law formula:
wherein u is the cross-swing speed, ψ is the course angle, α p (ω) is the path tangential angle, x e For tangential tracking error, x' p (omega) is x p (omega) derivative of omega, y' p (omega) is y p (ω) derivative of ω, k being a designed positive constant,is the derivative of ω with time t; (x) p (ω),y p (ω)) is the coordinates of the points constituting the path.
3. The under-actuated ship course guidance method with cross-shake constraint of claim 2, wherein the relationship between the ship motion state and the ship position in step S3 is described by a four-degree-of-freedom kinematic coupling model, and the model expression is as follows:
wherein,derivatives of ship position coordinates (x, y) with respect to time t, v is heave speed, u is cross speed,/v>For the derivative of the yaw angle phi with respect to time t,/->Is the derivative of heading angle ψ over time t.
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2021
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