CN114967429B - Ship course control method, device and equipment - Google Patents
Ship course control method, device and equipment Download PDFInfo
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Abstract
The invention discloses a method, a device and equipment for controlling ship course, wherein the method for controlling the ship course comprises the steps of obtaining the current steering gain and steering pressing gain of the ship course; obtaining a target anti-interference integral gain of the ship course according to the steering gain and the steering pressing gain; obtaining a course time domain control law according to the target anti-interference integral gain, the steering gain and the steering pressing gain; and controlling the ship course according to the course time domain control law. According to the scheme of the invention, the automatic adjustment of the control parameter of the ship course is carried out according to the target anti-interference integral gain, so that the course control of the ship can cope with various external interferences.
Description
Technical Field
The invention relates to the technical field of ship navigation control, in particular to a ship course control method, a device and equipment.
Background
In the actual application of ship course control, two methods are mainly used at present, namely a PID control method based on artificial experience adjustment parameters; the other is a self-adaptive control method based on model identification and an LQR control method.
In the PID control method, a crew who needs to follow tries to obtain 3 control parameters, namely proportion, integral and differential, in the ship sailing process according to the actual running condition and sea surface condition, and the difficulty and the workload of the crew are undoubtedly increased in the process of trying to obtain the control parameters. In the adaptive control method and the LQR control method based on model identification, identification is required to be carried out under a relatively calm 3-level sea condition, and the identification condition cannot be used for accurately processing the navigation change of a ship under a severe sea condition, so that the application of the method is limited; in addition, due to the limitation of identification conditions, the problem of inaccurate identification is also easy to occur, the interference of uncertain periodic variation of size and direction cannot be identified, and the model identification increases the calculation amount of system operation.
Disclosure of Invention
The invention aims to solve the technical problem of how to provide a method, a device and equipment for controlling the ship course, so that the course control of a ship can deal with various external interferences.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a ship course control method comprises the following steps:
acquiring the current steering gain and steering pressing gain of the ship course;
obtaining a target anti-interference integral gain of the ship course according to the steering gain and the steering pressing gain;
obtaining a course time domain control law according to the target anti-interference integral gain, the steering gain and the steering pressing gain;
and controlling the ship course according to the course time domain control law.
Optionally, obtaining a target anti-interference integral gain of the ship course according to the steering gain and the steering pressing gain, including:
obtaining a course frequency domain control law with an anti-interference integral term;
obtaining a transfer function of course control according to the course frequency domain control law;
and obtaining the target anti-interference integral gain of the ship course according to the transfer function.
Optionally, obtaining a heading frequency domain control law with an interference rejection integral term includes:
obtaining a course frequency domain control law with an anti-interference integral term through the following formula:
wherein, S is a frequency domain,
is the course frequency domain control law when the frequency domain is S,
in order to achieve the gain of steering,
in order to obtain the gain of the rudder pressing,
to meet a predetermined range of interference rejection integral gain,
is the heading difference.
Optionally, obtaining a transfer function of the heading control according to the heading frequency-domain control law includes:
obtaining a transfer function of the heading control through the following formula:
A=
wherein A is a transfer function, T is a preset ship model inertia parameter, K is a preset ship model rudder effect parameter,
the heading when the frequency domain is S.
Optionally, obtaining a target anti-interference integral gain of the ship heading according to the transfer function includes:
obtaining the value range of the anti-interference integral gain according to the transfer function:
wherein, the first and the second end of the pipe are connected with each other,
is that
Equation (II)
Value range in case of having a solid root;
and determining the target anti-interference integral gain in the value range of the anti-interference integral gain.
Optionally, obtaining a heading time domain control law according to the target anti-interference integral gain, the steering gain and the steering pressing gain, including:
obtaining the course time domain control law through the following formula:
wherein the content of the first and second substances,
is a course time domain control law, r is a steering rate,
and the target anti-interference integral gain is obtained.
Optionally, controlling the ship heading according to the heading time domain control law, including:
when the course value does not exceed a preset threshold value, controlling the course of the ship according to the course time domain control law;
and when the course value exceeds a preset threshold value, reducing the target anti-interference integral gain to a preset multiple of the target anti-interference integral gain to obtain a course time domain control law, and controlling the course of the ship according to the obtained course time domain control law, wherein the preset multiple is less than 1.
The invention also provides a ship course control device, which comprises:
the acquisition module is used for acquiring the current steering gain and steering pressing gain of the ship course;
the processing module is used for obtaining a target anti-interference integral gain of the ship course according to the steering gain and the steering pressing gain; obtaining a course time domain control law according to the target anti-interference integral gain, the steering gain and the steering pressing gain; and controlling the ship course according to the course time domain control law.
The present invention also provides a computing device comprising: a processor, a memory storing a computer program which, when executed by the processor, performs the method.
The present invention also provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method.
The scheme of the invention at least comprises the following beneficial effects:
the control method of the ship course obtains the current helm opening gain and helm pressing gain of the ship course; obtaining a target anti-interference integral gain of the ship course according to the steering gain and the steering pressing gain; obtaining a course time domain control law according to the target anti-interference integral gain, the steering gain and the steering pressing gain; and controlling the ship course according to the course time domain control law, so that the ship course control can cope with various external interferences, the complexity of the ship course control method is reduced, and the calculated amount of the ship course control is also reduced.
Drawings
FIG. 1 is a flowchart of a method for controlling ship course according to an embodiment of the present invention;
fig. 2 is a schematic block diagram of a ship course control device according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
As shown in fig. 1, the present embodiment provides a method for controlling a ship heading, including:
s1, acquiring current steering gain and steering pressing gain of the ship course;
s2, obtaining a target anti-interference integral gain of the ship course according to the steering gain and the steering pressing gain;
s3, obtaining a course time domain control law according to the target anti-interference integral gain, the steering gain and the steering pressing gain;
and S4, controlling the ship course according to the course time domain control law.
Wherein, the steering gain refers to the difference between the actual course and the target course, namely the control coefficient of the course difference; the steering gain refers to the ratio of the actual steering rate to the target steering rate, namely a control coefficient of the steering rate; the steering gain and the steering pressure gain can be calculated by an adaptive control method, a PID (proportional integral derivative) control method or an LQR (linear quadratic regulator) control method, or can be obtained by manual debugging.
According to the ship course control method, the control parameters are automatically adjusted through the target anti-interference integral gain, so that ship course control can cope with various external interferences, meanwhile, a course time domain control law can be obtained only by carrying out simple calculation on the steering gain and the steering pressing gain, the ship course is controlled, and the calculated amount is small. Compared with a PID control method which needs to try and obtain 3 control parameters, the method greatly simplifies the complexity of the ship course control method and reduces the calculated amount of the ship course control. Compared with an adaptive control method based on model identification and an LQR control method which are limited by identification conditions, the present embodiment can be applied to various sea conditions and can perform anti-interference control.
As an optional implementation manner of this embodiment, in step S2, obtaining a target anti-interference integral gain of the ship course according to the steering gain and the steering pressing gain includes:
s21, obtaining a course frequency domain control law with an anti-interference integral term;
s22, obtaining a transfer function of course control according to the course frequency domain control law;
and S23, obtaining the target anti-interference integral gain of the ship course according to the transfer function.
The ship course control method can perform integral compensation by using the course difference, and obtain a course frequency domain control law executed in a time domain through the course frequency domain control law, and specifically comprises the following steps:
in step S21, obtaining a course frequency domain control law with an anti-interference integral term, including:
obtaining a course frequency domain control law with an anti-interference integral term through the following formula:
wherein, S is a frequency domain,
is the course frequency domain control law when the frequency domain is S,
in order to make the gain of the rudder,
in order to obtain the gain of the rudder pressing,
to meet a predetermined range of interference rejection integral gain,
is the heading difference.
In step S22, obtaining a transfer function of the heading control according to the heading frequency domain control law, including:
obtaining a transfer function of the heading control through the following formula:
A=
wherein A is a transfer function, T is a preset ship model inertia parameter, K is a preset ship model rudder effect parameter,
the course when the frequency domain is S.
In step S23, obtaining a target anti-interference integral gain of the ship course according to the transfer function, including:
obtaining the value range of the anti-interference integral gain according to the transfer function:
wherein the content of the first and second substances,
is that
Equation (II)
A value range in the case of a solid root;
and determining the target anti-interference integral gain in the value range of the anti-interference integral gain.
It is to be noted that
Is a quadratic equation of one element having a real root, i.e. satisfying
A condition of more than or equal to 0 is obtained, so that the anti-interference integral gain is obtained
The value range of (a). Integral gain while resisting interference
When the value range is satisfied, the method can ensure that
The zero point is provided, so that the transfer function of the closed loop has the zero point, and the anti-interference integral gain plays a role in adjustment.
The value range of the anti-interference integral gain is obtained through the method, and the target anti-interference integral gain is determined in the value range of the anti-interference integral gain, so that the phenomenon of frequent course crossing caused by large gain can be avoided, and the robustness is strong.
In step S3, obtaining a course time domain control law according to the target anti-interference integral gain, the steering gain, and the steering pressing gain, including:
obtaining the course time domain control law through the following formula:
wherein, the first and the second end of the pipe are connected with each other,
is a course time domain control law, r is a steering rate,
and the target anti-interference integral gain is obtained.
In the step S4, according to the course time domain control law, the course of the ship is controlled, and the method comprises the following steps:
when the course value does not exceed a preset threshold value, controlling the course of the ship according to the course time domain control law;
and when the course value exceeds a preset threshold value, reducing the target anti-interference integral gain to a preset multiple of the target anti-interference integral gain to obtain a course time domain control law, and controlling the course of the ship according to the obtained course time domain control law, wherein the preset multiple is less than 1, and preferably the preset multiple is 0.5.
The course value can be obtained by means of compass measurement and the like, when the ship turns, if the course value exceeds an artificially set or default threshold value, the phenomenon is an overshoot phenomenon, and the target anti-interference integral gain at the moment
Mismatch, need to be adjusted in such a way that the current one is used
Reduced by a predetermined factor
E.g. 0.5 times
And recalculating the course time domain control law.
It should be noted that the rudder angle is controlled by the course time domain control law, the rudder angle changes according to the course time domain control law, and the change of the rudder angle influences the course, so that the course of the ship is controlled according to the course time domain control law.
As an optional implementation manner of this embodiment, the steering gain and the steering pressing gain may be obtained in real time, so as to obtain a real-time course time domain control law, and control the course of the ship.
The ship course control method can automatically adjust the value range of the anti-interference integral gain, automatically adjust the target anti-interference integral gain, realize the anti-interference control of the ship course by adopting the target anti-interference integral gain, and realize the anti-interference control without depending on modes such as model identification and the like.
As an optional implementation manner of this embodiment, the ship course control method of this embodiment may be combined with a control method in the prior art. For example, the present embodiment is combined with a PID control method, in which 3 parameters required are proportional (K) P ) Integral (K) I ) Differential (K) D ) The target anti-interference integral gain obtained in the embodiment can be adopted
As integral K in PID control methods I And further, the PID control method only needs to adjust 2 parameters, so that the complexity of simultaneously adjusting 3 parameters is reduced. For another exampleIn this embodiment, an adaptive control method based on model identification and an LQR control method are combined to compensate for external interference.
As shown in fig. 2, the present embodiment further provides a control device 20 for the ship heading, which includes:
the acquiring module 21 is used for acquiring the current steering gain and steering pressing gain of the ship course;
the processing module 22 is used for obtaining a target anti-interference integral gain of the ship course according to the steering gain and the steering pressing gain; obtaining a course time domain control law according to the target anti-interference integral gain, the steering gain and the steering pressing gain; and controlling the ship course according to the course time domain control law.
As an optional implementation manner of this embodiment, when the processing module 22 obtains the target anti-interference integral gain of the ship course according to the steering gain and the steering pressing gain, the processing module is specifically configured to:
obtaining a course frequency domain control law with an anti-interference integral term;
obtaining a transfer function of course control according to the course frequency domain control law;
and obtaining the target anti-interference integral gain of the ship course according to the transfer function.
Optionally, the processing module 22 obtains a heading frequency domain control law with an anti-interference integral term, and is specifically configured to:
obtaining a course frequency domain control law with an anti-interference integral term through the following formula:
wherein, S is a frequency domain,
the course frequency domain control law when the frequency domain is S,
in order to achieve the gain of steering,
in order to obtain the gain of the rudder pressing,
to meet a predetermined range of interference rejection integral gain,
is the heading difference.
Optionally, when the processing module 22 obtains the transfer function of the heading control according to the heading frequency-domain control law, the processing module is specifically configured to:
obtaining a transfer function of the heading control through the following formula:
A=
wherein A is a transfer function, T is a preset ship model inertia parameter, K is a preset ship model rudder effect parameter,
the course when the frequency domain is S.
Optionally, when the processing module 22 obtains the target anti-interference integral gain of the ship heading according to the transfer function, the processing module is specifically configured to:
obtaining the value range of the anti-interference integral gain according to the transfer function:
wherein the content of the first and second substances,
is that
Equation (II)
A value range in the case of a solid root;
and determining the target anti-interference integral gain in the value range of the anti-interference integral gain.
Optionally, when the processing module 22 obtains a heading time-domain control law according to the target anti-interference integral gain, the steering gain, and the steering pressing gain, the processing module is specifically configured to:
obtaining the course time domain control law through the following formula:
wherein the content of the first and second substances,
is a course time domain control law, r is a steering rate,
and the target anti-interference integral gain is obtained.
Optionally, when the processing module 22 controls the ship heading according to the heading time domain control law, the processing module is specifically configured to:
when the course value does not exceed a preset threshold value, controlling the course of the ship according to the course time domain control law;
and when the course value exceeds a preset threshold value, reducing the target anti-interference integral gain to a preset multiple of the target anti-interference integral gain to obtain a course time domain control law, and controlling the course of the ship according to the obtained course time domain control law, wherein the preset multiple is less than 1.
It should be noted that this embodiment is an apparatus embodiment corresponding to the above method embodiment, and all implementation manners in the above method embodiment are applicable to this apparatus embodiment, and the same technical effects can be achieved.
The present embodiments also provide a computing device, comprising: a processor, a memory storing a computer program which, when executed by the processor, performs the method.
The present embodiments also provide a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method.
The computing device may include: a processor (processor), a Communications Interface (Communications Interface), a memory (memory), and a Communications bus.
Wherein: the processor, the communication interface, and the memory communicate with each other via a communication bus. A communication interface for communicating with network elements of other devices, such as clients or other servers. The processor is configured to execute the program, and may specifically perform the relevant steps in the foregoing embodiments.
In particular, the program may include program code comprising computer operating instructions.
The processor may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement an embodiment of the invention. The computing device includes one or more processors, which may be the same type of processor, such as one or more CPUs; or may be different types of processors such as one or more CPUs and one or more ASICs.
And the memory is used for storing programs. The memory may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program may in particular be adapted to cause a processor to perform the method in any of the above-described method embodiments. For specific implementation of each step in the program, reference may be made to corresponding steps and corresponding descriptions in units in the foregoing embodiments, which are not described herein again. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described devices and modules may refer to the corresponding process descriptions in the foregoing method embodiments, and are not described herein again.
The algorithms or displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system is apparent from the description above. In addition, embodiments of the present invention are not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of embodiments of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of use of an embodiment of the present invention.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed embodiments of the invention require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Moreover, those of skill in the art will appreciate that while some embodiments herein include some features included in other embodiments, not others, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components according to embodiments of the present invention. Embodiments of the invention may also be implemented as apparatus or system programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing embodiments of the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. Embodiments of the invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several systems, several of these systems may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names. The steps in the above embodiments should not be construed as limited to the order of execution unless otherwise specified.
Claims (6)
1. A ship course control method is characterized by comprising the following steps:
acquiring the current rudder striking gain and rudder pressing gain of the ship course;
obtaining a target anti-interference integral gain of the ship course according to the steering gain and the steering pressing gain;
obtaining a course time domain control law according to the target anti-interference integral gain, the steering gain and the steering pressing gain;
controlling the ship course according to the course time domain control law;
obtaining a target anti-interference integral gain of the ship course according to the helm hitting gain and the helm pressing gain, wherein the method comprises the following steps:
obtaining a course frequency domain control law with an anti-interference integral term;
obtaining a transfer function of course control according to the course frequency domain control law;
obtaining a target anti-interference integral gain of the ship course according to the transfer function;
obtaining a course frequency domain control law with an anti-interference integral term, comprising:
obtaining a course frequency domain control law with an anti-interference integral term through the following formula:
wherein, S is a frequency domain,
is the course frequency domain control law when the frequency domain is S,
in order to achieve the gain of steering,
in order to obtain the gain of the rudder pressing,
to meet a predetermined range of interference rejection integral gain,
is the course difference;
obtaining a transfer function of course control according to the course frequency domain control law, wherein the transfer function comprises the following steps:
the transfer function of course control is obtained by the following formula:
A=
wherein A is a transfer function, T is a preset ship model inertia parameter, K is a preset ship model rudder effect parameter,
the course when the frequency domain is S;
obtaining the target anti-interference integral gain of the ship course according to the transfer function, and the method comprises the following steps:
obtaining the value range of the anti-interference integral gain according to the transfer function:
wherein the content of the first and second substances,
is that
In the equation
A value range in the case of a solid root;
and determining the target anti-interference integral gain in the value range of the anti-interference integral gain.
2. The method for controlling the ship course according to claim 1, wherein a course time domain control law is obtained according to the target anti-interference integral gain, the steering gain and the steering pressing gain, and comprises the following steps:
obtaining the course time domain control law through the following formula:
wherein, the first and the second end of the pipe are connected with each other,
is a course time domain control law, r is a steering rate,
and (4) integrating and gaining the target anti-interference.
3. The method for controlling the ship heading as claimed in claim 2, wherein controlling the ship heading according to the heading time domain control law comprises:
when the course value does not exceed a preset threshold value, controlling the course of the ship according to the course time domain control law;
and when the course value exceeds the preset threshold value, reducing the target anti-interference integral gain to a preset multiple of the target anti-interference integral gain to obtain the course time domain control law, and controlling the course of the ship according to the obtained course time domain control law, wherein the preset multiple is less than 1.
4. A ship course control device, which is used for realizing the ship course control method of any one of claims 1 to 3, and comprises the following steps:
the acquisition module is used for acquiring the current rudder striking gain and rudder pressing gain of the ship course;
the processing module is used for obtaining a target anti-interference integral gain of the ship course according to the steering gain and the steering pressing gain; obtaining a course time domain control law according to the target anti-interference integral gain, the steering gain and the steering pressing gain; and controlling the ship course according to the course time domain control law.
5. A computing device, comprising: a processor, a memory storing a computer program which, when executed by the processor, performs the method of any one of claims 1 to 3.
6. A computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method of any one of claims 1 to 3.
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