CN115014355A - Fixed-point return regulation and control method and device for catamaran unmanned ship - Google Patents
Fixed-point return regulation and control method and device for catamaran unmanned ship Download PDFInfo
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Abstract
The invention discloses a fixed-point return regulation and control method and a device for a catamaran unmanned ship, wherein the method comprises the following steps: when the unmanned ship deviates from the fixed point position, respectively calculating a return control parameter of the unmanned ship and a compensation control parameter for coping with environmental disturbance; and controlling the unmanned ship to return to a fixed-point position based on the return control parameter and the compensation control parameter. The unmanned ship can calculate the control parameters required by return navigation and the return navigation compensation parameters capable of coping with environmental disturbance in real time when the unmanned ship is determined to deviate, and the unmanned ship is controlled to move in real time based on the two parameters, so that the unmanned ship can quickly return to the positioning point of the unmanned ship, the influence of the environmental disturbance on the return navigation is reduced, the unmanned ship can stably return to the positioning point, the problem of multiple adjusting routes in the return navigation process can be avoided, the time consumed by regulation and control is shortened, and the regulation and control efficiency is improved.
Description
Technical Field
The invention relates to the technical field of unmanned ship control, in particular to a fixed-point return regulation and control method and device for a catamaran unmanned ship.
Background
The unmanned ship is a water surface navigation device with autonomous navigation or remote control function to realize normal navigation, operation and operation, can execute designated tasks by carrying various task loads, and is widely applied to the field of water area automation operation due to the advantages of safe operation, high efficiency, energy conservation, low cost and the like.
Since the unmanned ship is susceptible to various unstable factors (such as disturbance of wind, waves and flow) in water, the unmanned ship is prone to deviate when being anchored at a fixed point, so that the unmanned ship gradually moves away from a target position point or a current positioning point. In order to make the unmanned ship fixedly moored at a specific position, the current common method is: when the unmanned ship is found to have deviation, the current position point of the unmanned ship is determined, and then the driving route is planned again based on the current position point and the target position point (or the target positioning point) so that the unmanned ship can sail to the target positioning point.
However, the conventional method has the following technical problems: although the air route is corrected again to allow the unmanned ship to run, the unmanned ship still may deviate from the air route again due to the influence of various unstable factors in the process of returning the unmanned ship to a fixed point position, and then a new running route needs to be planned for the unmanned ship repeatedly for many times, so that the corrected workload and the data processing amount are increased, the efficiency of air route planning and adjustment is low, and the time consumed for running is increased.
Disclosure of Invention
The invention provides a fixed-point return regulation and control method and device for a catamaran unmanned ship.
The first aspect of the embodiment of the invention provides a fixed-point return regulation and control method for a catamaran unmanned ship, which comprises the following steps:
when the unmanned ship deviates from the fixed point position, respectively calculating a return control parameter of the unmanned ship and a compensation control parameter for coping with environmental disturbance;
and controlling the unmanned ship to return to the fixed point position based on the return control parameter and the compensation control parameter.
In a possible implementation manner of the first aspect, the return travel control parameter includes a return travel speed value and a return travel angle value;
the calculation operation of the return flight control parameter specifically comprises the following steps:
respectively acquiring the current position and the deviation angle value of the unmanned ship;
calculating a position distance value between the current position and the fixed point position of the unmanned ship;
calculating a return travel speed value based on a difference between the position distance value and the fixed point holding tolerance radius value;
and calculating a course angle value based on the deviation angle value.
In a possible implementation manner of the first aspect, the operation of calculating the deviation angle value specifically includes:
respectively acquiring the longitude and the latitude of the current position and the longitude and the latitude of the fixed point position;
calculating a deviation angle value based on the longitude and latitude of the current location and the longitude and latitude of the fixed point location.
In one possible implementation form of the first aspect, the compensation control parameter includes a compensation rate value and a compensation angle value;
the calculation reference of the compensation control parameter is specifically as follows:
respectively acquiring a real-time state parameter and a historical state parameter;
constructing a state equation by using the historical state parameters and preset first disturbance parameters, and constructing an observation equation by using the real-time state parameters and preset second disturbance parameters;
a preset Kalman filter is called to estimate the state equation and the observation equation, and a compensation speed value and a compensation heading angle value are obtained respectively;
the preset Kalman filter is provided with a noise statistics time-varying estimator, and the preset Kalman filter is a Kalman filtering model which is set up by taking the historical state parameter and the first disturbance parameter of the unmanned ship as state variables and taking the real-time measurement state parameter and the second disturbance parameter of the unmanned ship as measurement variables.
In a possible implementation manner of the first aspect, the invoking a preset kalman filter to estimate the state equation and the observation equation to obtain a compensation rate value and a compensation heading angle value, respectively, includes:
substituting the state equation and the observation equation into a preset Kalman filter, and calling a noise statistics time-varying estimator by the preset Kalman filter to estimate according to the statistical noise to obtain an estimation parameter;
constructing a kinetic equation by using the evaluation parameters;
and carrying out inverse dynamics solution on the dynamic equation to respectively obtain a compensation speed value and a compensation heading angle value.
In a possible implementation manner of the first aspect, the constructing a kinetic equation using the evaluation parameter includes:
adding the evaluation parameters into a preset dynamic model, and solving a dynamic equation;
the preset dynamic model is obtained by constructing a position coordinate system and a first-order linear response model based on the catamaran unmanned ship;
the kinetic model is shown as follows:
in the above formula, δ is the input rudder angle, r is the yawing velocity of the unmanned ship, K r And T r Respectively are ship maneuvering indexes; a and b are speed equation parameters of the unmanned ship on the water surface, u is the navigation speed of the unmanned ship, and epsilon is an accelerator input value.
In a possible implementation manner of the first aspect, the controlling the unmanned ship to return to the fixed-point position based on the return control parameter and the compensation control parameter includes:
respectively calculating an expected course value and an expected speed value by adopting the return control parameter and the compensation control parameter;
calculating a thrust parameter of a propeller of the unmanned ship based on the expected heading value and the expected speed value;
and controlling the unmanned ship to return to the fixed point position according to the thrust parameters.
In a possible implementation manner of the first aspect, the thrust parameter includes: left and right throttle amounts;
the left throttle amount is calculated as follows:
the right throttle amount is calculated as follows:
in the above formula, T left Left throttle amount, T right Is the right throttle amount, k 1 And k 2 To power distribution scaling factor, thurst is the virtual thrust equivalent to the desired speed value, rudder is the virtual rudder amount equivalent to the desired heading value, where,
r is a fixed point holding tolerance radius value, d is a position distance value,
is the deviation angle value.
In a possible implementation manner of the first aspect, the determining the unmanned ship deviation fixed point position specifically includes:
calculating a position distance value between the current position and the fixed point position of the unmanned ship;
if the position distance value is larger than the fixed point holding tolerance radius value, determining that the unmanned ship deviates from the fixed point position;
and if the position distance value is smaller than the fixed point holding tolerance radius value, determining that the unmanned ship does not deviate from the fixed point position.
A second aspect of the embodiments of the present invention provides a fixed-point return regulating and controlling device for a catamaran unmanned ship, including:
the calculation module is used for respectively calculating a return control parameter of the unmanned ship and a compensation control parameter for dealing with environmental disturbance when the unmanned ship is determined to deviate from a fixed point position;
and the regulation and control module is used for controlling the unmanned ship to return to a fixed-point position based on the return control parameter and the compensation control parameter.
Compared with the prior art, the fixed-point return regulation and control method and device for the catamaran unmanned ship provided by the embodiment of the invention have the beneficial effects that: the unmanned ship can calculate the control parameters required by return navigation and the return navigation compensation parameters capable of coping with environmental disturbance in real time when the unmanned ship is determined to deviate, and the unmanned ship is controlled to move in real time based on the two parameters, so that the unmanned ship can quickly return to the target position point, the influence of the environmental disturbance on the return navigation is reduced, the unmanned ship can stably return to the fixed position, the problem of multiple adjustment routes in the return navigation process is solved, the time consumed by regulation and control is shortened, and the regulation and control efficiency is improved.
Drawings
Fig. 1 is a schematic flow chart of a fixed-point return regulation method for a catamaran unmanned ship according to an embodiment of the present invention;
FIG. 2 is a schematic view of the slip angle of an unmanned ship according to an embodiment of the present invention;
FIG. 3 is a schematic coordinate system diagram of an unmanned ship according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating operations for calculating compensated control parameters according to one embodiment of the present invention;
FIG. 5 is a flowchart illustrating the operation of calculating thrust parameters according to an embodiment of the present invention;
fig. 6 is an operation flowchart of a fixed-point return regulation method for a catamaran unmanned ship according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a fixed-point return regulating device of a catamaran unmanned ship according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The conventional return flight regulation and control method has the following technical problems: although the air route is corrected again to allow the unmanned ship to run, the unmanned ship still may deviate from the air route again due to various environmental disturbances in the process of returning the unmanned ship to a fixed point position, and then a new running route needs to be planned for the unmanned ship repeatedly for many times, so that the corrected workload and the data processing amount are increased, the efficiency of air route planning and adjustment is low, and the time consumed for running is increased.
In order to solve the above problem, the fixed point return regulation method for a catamaran unmanned ship according to the embodiments of the present application will be described and explained in detail through the following specific embodiments.
Referring to fig. 1, a schematic flow chart of a fixed-point return regulation method for a catamaran unmanned ship according to an embodiment of the present invention is shown.
As an example, the fixed-point return regulation and control method for the catamaran unmanned ship may include:
and S11, when the unmanned ship is determined to deviate from the fixed point position, calculating a return control parameter of the unmanned ship and a compensation control parameter for responding to the environmental disturbance respectively.
In an embodiment, the current position of the unmanned ship can be detected, whether the unmanned ship deviates from the fixed point position or not is determined, and if the unmanned ship deviates, the return control parameter and the compensation control parameter of the unmanned ship can be immediately calculated.
In one embodiment, the unmanned ship may roll in the water due to waves or currents, causing the unmanned ship to rock back and forth at the fixed point location, but not actually move away from the fixed point location. Therefore, in order to accurately determine that the unmanned ship deviates from its fixed point position, step S11 may include the following sub-steps, as an example:
and S111, calculating a position distance value between the current position and the fixed point position of the unmanned ship.
And S112, if the position distance value is larger than the fixed point holding tolerance radius value, determining that the unmanned ship deviates from the fixed point position.
And S113, if the position distance value is smaller than the fixed point holding tolerance radius value, determining that the unmanned ship does not deviate from the fixed point position.
Specifically, a coordinate point of the current position of the unmanned ship and a coordinate point of the fixed point position may be acquired, respectively, and then a distance value between the two positions may be calculated based on the two coordinate points. And then judging whether the position distance value is greater than a fixed point holding tolerance radius value or not, if so, determining that the unmanned ship deviates from the fixed point position, otherwise, determining that the unmanned ship does not deviate from the fixed point position.
The fixed point holding tolerance radius value is a radius of an area which takes the position of the fixed point as the center and can be used for the unmanned ship to shake and move, and the radius distance value can be adjusted according to actual needs.
Specifically, the position distance value is calculated as follows:
in the above formulaD is a position distance value, R is the radius of the earth, B w Latitude as a fixed point position, B j Longitude of the fix position, A w As latitude of the current position, A j The longitude of the current location.
By setting the radius distance value, the unmanned ship can regulate and control the navigational speed in the circle, so that the navigational speed is reduced according to a certain rule, and the fixed-point keeping effect is more elastic.
Since the unmanned ship may move in different directions in water, in order to enable the unmanned ship to accurately return to a fixed-point position, in an embodiment, the return control parameters include a return speed value and a return angle value.
As an example, the calculation operation of the return flight control parameter specifically includes:
and S21, respectively acquiring the current position and the deviation angle value of the unmanned ship.
Referring to fig. 2, a schematic diagram of a slip angle of an unmanned ship according to an embodiment of the present invention is shown.
And the deviation angle value is the deviation angle of the connecting line between the current direction of the unmanned ship and the current position and the fixed point position of the unmanned ship.
Wherein, the step S21 may include the following sub-steps:
s211, respectively acquiring the longitude and the latitude of the current position and the longitude and the latitude of the fixed point position.
S212, calculating a deviation angle value based on the longitude and the latitude of the current position and the longitude and the latitude of the fixed point position.
Specifically, the value of the deviation angle is calculated as follows:
Wherein the content of the first and second substances,
is the deviation angle value, psi is the heading angle of the unmanned ship, B w Latitude as a fixed point position, B j Longitude as the location of the fixed point, A w As latitude of the current position, A j The longitude of the current location.
And S22, calculating a position distance value between the current position and the fixed point position of the unmanned ship.
Specifically, the position distance value is calculated as shown in the above formula, and may be specifically calculated by referring to the above formula.
And S23, calculating a return speed value based on the difference value between the position distance value and the fixed point holding tolerance radius value.
Specifically, the return speed value may be calculated as follows:
v＝k*(d-r)；
where d is the position distance value, r is the fixed point holding tolerance radius value, and k is the velocity scaling factor (in m/s).
And S24, calculating a heading angle value based on the deviation angle value.
In one embodiment, in order to enable the unmanned ship to flexibly return to the fixed point position, the heading angle value can be calculated according to the magnitude of the deviation angle value.
Specifically, when the deviation angle value is less than 90 degrees, the deviation angle value may be taken as a heading angle value; when the deviation angle value is larger than 90 degrees, the deviation angle value can be subtracted from 180 degrees to obtain a heading angle value.
For example, if the deviation angle value is 60 degrees, then the heading angle value is 60; if the deviation angle value is greater than 120 degrees, the heading angle value is 180-120 degrees-60 degrees.
When the deviation angle value is smaller than ninety degrees, the pointing position point can be selected, the unmanned ship can be directly controlled to advance to the position of the holding point, when the deviation angle is larger than ninety degrees, the unmanned ship is directly controlled to run to the pointing position, the unmanned ship needs to wind a large circle, the unmanned ship can directly run to the pointing position in a back direction, the form distance of the unmanned ship is shortened, and the probability of being influenced by wind and waves in the running process is reduced.
Through the control strategy, the position can be reached to a fixed point according to the more flexible convergence of the deviation angle, and the regulation and control efficiency is improved.
The course of the unmanned ship needs a return speed value and a return angle value, and correspondingly, in order to compensate the return speed value and the return angle value, in one embodiment, the compensation control parameter comprises a compensation speed value and a compensation angle value;
the compensation speed value and the compensation angle value are compensated into the compensation values of thrust and rudder amount, and the thrust and the rudder amount can be equivalent to the thrust values of two propulsion forces according to a power distribution strategy.
As an example, the calculation of the compensation control parameter specifically includes:
and S31, respectively acquiring the real-time state parameters and the historical state parameters.
In this embodiment, the real-time status parameters may be the current heading speed and the current yaw rate of the unmanned ship. The historical state parameters can be the advancing speed and the heading angle speed of the unmanned ship for returning at the previous time, or the advancing speed and the heading angle speed of a certain previous time node, and the specific time node can be adjusted according to actual needs.
S32, constructing a state equation by using the historical state parameters and the preset first disturbance parameters, and constructing an observation equation by using the real-time state parameters and the preset second disturbance parameters.
Specifically, the equation of state is shown below:
x(k)＝x(k-1)+w(k-1)；
and k is marked, k is the current time, and k-1 is the last time.
The observation equation is shown below:
y(k)＝x(k)+v(k)；
in the above formula, x (k) and y (k) are respectively a real-time state variable matrix and an observation state variable matrix, x (k-1) is a historical state parameter, w (k-1) and v (k) are respectively a first disturbance parameter and a second disturbance parameter, and the value of the disturbance parameter can be adjusted according to the actual situation and can be a value preset by a user. Specifically, w (k) and v (k) are input noise and measurement noise respectively, and the state variable matrix is composed of a heading angle yaw, a navigation speed and accelerations of x and y axes in an attached coordinate system.
And dynamically correcting the state vector according to an IMU (inertial measurement unit) measured value and a Kalman filtering gain lifting matrix, and continuously improving the prediction accuracy. And the attitude within the limited time in the future is reliably forecasted through the forecasted state value and the mathematical model of the unmanned ship, so that the control effect is better maintained at a fixed point.
By adding the disturbance parameters, the influence of wind, wave and flow of the external environment on the unmanned ship can be simulated, and further the required compensation parameters can be calculated.
And S33, calling a preset Kalman filter to estimate the state equation and the observation equation to respectively obtain a compensation speed value and a compensation angle value.
In an embodiment, a preset kalman filter can be called to perform evaluation calculation by using two equations, and a compensation speed value and a compensation heading angle value are obtained through respective calculation.
The Kalman filter is an effective algorithm for performing the most filtering on signals with random noise, and consists of a series of recursive processes, so that the Kalman filter has better dynamic and disturbance-resistant performances and can realize online state estimation.
Optionally, a noise estimator is designed by using a kalman filter, wherein the kalman filter is a kalman filtering model established by using the historical state parameter and the first disturbance parameter of the unmanned ship as state variables and using the real-time measurement state parameter and the second disturbance parameter of the unmanned ship as measurement variables.
Specifically, the historical navigation state parameter is the historical state parameter x (k-1) at the previous moment, and the first disturbance parameter is the input noise w (k-1). The real-time state variable matrix is x (k), and the second disturbance parameter is measurement noise v (k).
In one embodiment, step S33 may include the following sub-steps:
and S331, substituting the state equation and the observation equation into a preset Kalman filter, and performing online estimation by the preset Kalman filter to obtain an estimated value of the state. .
And S332, constructing a kinetic equation by using the evaluation parameters.
In an embodiment, the substep S332 may comprise the substeps of:
s3321, adding the obtained state estimation value into a preset dynamic model, and solving a dynamic equation;
the preset dynamic model is obtained by constructing a position coordinate system and a first-order linear response model based on the catamaran unmanned ship.
The kinetic model is shown as follows:
in the above formula, δ is the input rudder angle, r is the yawing velocity of the unmanned ship, K r And T r Respectively are ship maneuvering indexes; a and b are speed equation parameters of the unmanned ship on the water surface, u is the navigation speed of the unmanned ship, and epsilon is an accelerator input value.
Referring to fig. 3, a schematic diagram of a coordinate system of the unmanned ship according to an embodiment of the present invention is shown.
In the embodiment, the water sports process of the unmanned boat is studied, and two coordinate systems, namely an inertial coordinate system and an attached coordinate system, are generally adopted, as shown in fig. 3, O E X E Y E For inertial coordinate systems fixed to the earth's surface, O b X b Y b Is an attached coordinate system with the origin point positioned on the front, back, left and right symmetrical points of the water surface in the unmanned ship. According to actual research requirements, the motion condition of the horizontal plane of the unmanned ship is only considered, heave, roll and pitch are ignored, the six-degree-of-freedom motion of the ship is simplified into the three-degree-of-freedom motion of the horizontal plane of roll, pitch and yaw, and the advancing speed u, the lateral moving speed v and the yaw speed r of the unmanned ship are considered.
Because the state of Kalman filtering estimation is closer to the state in a system process equation, the influence of sensor noise on the noise of a controller can be effectively reduced, and after disturbance is estimated on line in the control process, a new course angle and a new navigation speed obtained according to the dynamic equation of the dynamic model in the foregoing should meet the following dynamic equation:
s333, performing inverse dynamics solution on the dynamic equation to respectively obtain a compensation speed value and a compensation angle value.
The above-mentioned kinetic equation is solved in inverse dynamics, so as to obtain a compensation rate value and a compensation angle value, which are specifically shown as the following formula:
compensation rate value:
compensation angle value:
in this embodiment, a noise statistics time-varying estimator is provided in a preset kalman filter, which is a kalman filtering model that is constructed by using a historical state parameter and a first disturbance parameter of the unmanned ship as state variables and using a real-time state parameter and a second disturbance parameter of the unmanned ship as measurement variables.
The attitude within the limited time in the future is reliably forecasted by adopting Kalman filtering, the established active enhanced disturbance compensation controller measures the heading angle yaw and the navigational speed of the ship motion and the acceleration of the x axis and the y axis under an attached coordinate system through shipborne integrated navigation, the unmanned ship model processes the measured data by combining with the Kalman filtering algorithm, the course and the navigational speed of the unmanned ship are compensated and controlled, and the fixed point with higher sight accuracy keeps the effect. Meanwhile, the Kalman filtering has certain autonomous correction capability, actual measurement data can be continuously used for being compared with a state estimation value, and Kalman filtering gain is continuously corrected, so that the prediction precision is improved.
Referring to fig. 4, a flowchart illustrating an operation of calculating a compensation control parameter according to an embodiment of the present invention is shown.
In actual practice, a nominal controller may be used, through which the regulation is performed.
Specifically, a return control parameter is input into a nominal controller, the nominal controller is triggered to call a Kalman filtering model for compensation and evaluation, a compensation speed value and a compensation angle value are finally obtained, and the two compensation values are utilized to build corresponding compensation controllers to respectively obtain:
the rate disturbance compensation controller is as follows:
the angle disturbance compensation controller is as follows:
because disturbance such as wind, wave, flow and the like exists in the environment during control, a Kalman filter is adopted to estimate the disturbance on line, a compensation controller capable of being actively enhanced is designed, and finally the compensation controller performs feedforward compensation to a nominal controller, and the nominal controller (such as a PID (proportion integration differentiation) controller) controls the catamaran to reduce the influence of various environment disturbances and disturbances in water on the catamaran.
The disturbance of wind, wave and flow is estimated on line by using a Kalman filtering model, an active enhancement controller is established, a course and speed compensation controller is established to compensate the influence of uncertainty brought by the modeling process on a control system, the performance of the model is improved, a feedforward compensation controller is generated by estimating the disturbance on line according to the proposed on-line active enhancement fixed point retaining controller and is combined with a nominal controller, the fixed point retaining control is carried out on the catamaran unmanned ship, the influence of the disturbance is added in the control, and the fixed point retaining control can be realized more accurately.
And S12, controlling the unmanned ship to return to the fixed point position based on the return control parameter and the compensation control parameter.
After the return control parameter and the compensation control parameter are determined, the two control parameters can be utilized to control the unmanned ship to push the motor, so that the unmanned ship can return to the fixed position according to a specific direction and speed.
In an alternative embodiment, step S12 may include the following sub-steps:
and S121, respectively calculating an expected course value and an expected speed value by adopting the return control parameter and the compensation control parameter.
Specifically, the return speed value and the compensation speed value are added to obtain an expected speed value, and the return angle value and the compensation angle value are added to obtain an expected course value.
And S122, calculating a thrust parameter of the unmanned ship propeller based on the expected heading value and the expected speed value.
In one embodiment, the unmanned ship is a catamaran unmanned ship, and the left side and the right side are respectively provided with a pushing motor for pushing the unmanned ship to advance from the left side and the right side.
Wherein, as an example, the thrust parameter includes: left and right throttle amounts;
wherein the left throttle amount is calculated as follows:
the right throttle amount is calculated as follows:
in the above formula, T left Left throttle amount, T right Is the right throttle amount, k 1 And k 2 For the power distribution scaling factor, the thrust is the same asVirtual thrust equivalent to the desired speed value, rudder is a virtual rudder amount equivalent to the desired heading value, wherein,
r is a fixed point holding tolerance radius value, d is a position distance value,
is the deviation angle value.
Referring to fig. 5, a flowchart of the operation of calculating the thrust parameter according to an embodiment of the present invention is shown.
Specifically, the expected course value can be equivalent to a virtual rudder amount, the expected speed value can be equivalent to a virtual thrust, and then the virtual rudder amount and the virtual thrust are substituted into the formula to calculate two throttle amounts which are respectively used for controlling the throttle of the left and right pushing motors to enable the two pushing motors to work.
And S123, controlling the unmanned ship to return to a fixed point position according to the thrust parameter.
And finally, respectively controlling the left and right pushing motors of the unmanned ship to work according to the two throttle amounts.
According to the invention, the control of the direction and the speed are separated, the expected navigational speed and the expected heading angle are respectively controlled by the feedback controller, and finally the accelerator amount of the left propeller and the accelerator amount of the right propeller are distributed and controlled by the mixed control distribution strategy, so that the fixed-point maintenance of the twin-hull unmanned ship is realized.
In actual operation, the rotation may need to be a little bit, the speed may need to be a little bit, for example, the change of the heading angle of the side weight and the change of the speed of the side weight may be needed during the actual operation of the unmanned ship, and for more accurate regulation and control, power distribution may be performed based on the above-mentioned proportionality coefficients K1 and K2 for the return voyage of the unmanned ship.
Referring to fig. 6, an operation flowchart of a fixed-point return regulation method for a catamaran unmanned ship according to an embodiment of the present invention is shown.
Specifically, position coordinates of the unmanned ship are obtained firstly, whether the unmanned ship deviates or not is determined based on the position coordinates, when the unmanned ship deviates, a return control parameter and a compensation control parameter are calculated respectively, and then a nominal controller is called to use the two parameters to carry out corresponding throttle control so as to control the unmanned ship to return to a fixed point position.
In this embodiment, the embodiment of the present invention provides a fixed-point return regulation and control method for a catamaran unmanned ship, which has the following beneficial effects: the unmanned ship can calculate the control parameters required by return navigation and the return navigation compensation parameters capable of coping with environmental disturbance in real time when the unmanned ship is determined to deviate, and the unmanned ship is controlled to move in real time based on the two parameters, so that the unmanned ship can quickly return to the target position point, the influence of the environmental disturbance on the return navigation is reduced, the unmanned ship can stably return to the fixed position, the problem of multiple adjustment routes in the return navigation process is solved, the time consumed by regulation and control is shortened, and the regulation and control efficiency is improved.
The embodiment of the invention also provides a fixed-point return regulation and control device for the catamaran unmanned ship, and the fixed-point return regulation and control device is shown in fig. 7, which is a schematic structural diagram of the fixed-point return regulation and control device for the catamaran unmanned ship provided by the embodiment of the invention.
As an example, the fixed-point return regulation and control device of the catamaran unmanned ship may include:
the calculation module 701 is used for respectively calculating a return control parameter of the unmanned ship and a compensation control parameter for responding to environmental disturbance when the unmanned ship is determined to deviate from a fixed point position;
and a regulating and controlling module 702, configured to control the unmanned ship to return to the fixed-point position based on the return control parameter and the compensation control parameter.
Optionally, the return control parameter includes a return speed value and a return angle value;
the calculation operation of the return voyage control parameter specifically comprises the following steps:
respectively acquiring the current position and the deviation angle value of the unmanned ship;
calculating a position distance value between the current position and the fixed point position of the unmanned ship;
calculating a return travel speed value based on a difference between the position distance value and the fixed point holding tolerance radius value;
and calculating a course angle value based on the deviation angle value.
Optionally, the operation of calculating the deviation angle value specifically includes:
respectively acquiring the longitude and the latitude of the current position and the longitude and the latitude of the fixed point position;
calculating a deviation angle value based on the longitude and latitude of the current location and the longitude and latitude of the fixed point location.
Optionally, the compensation control parameter includes a compensation speed value and a compensation heading angle value;
the calculation reference of the compensation control parameter is specifically as follows:
respectively acquiring a real-time state parameter and a historical state parameter;
constructing a state equation by using the historical state parameters and preset first disturbance parameters, and constructing an observation equation by using the real-time state parameters and preset second disturbance parameters;
a preset Kalman filter is called to estimate the state equation and the observation equation, and a compensation speed value and a compensation heading angle value are obtained respectively;
the preset Kalman filter is provided with a noise statistics time-varying estimator, and the preset Kalman filter is a Kalman filtering model which is set up by taking the historical state parameter and the first disturbance parameter of the unmanned ship as state variables and taking the real-time measurement state parameter and the second disturbance parameter of the unmanned ship as measurement variables.
Optionally, the invoking a preset kalman filter to estimate the state equation and the observation equation respectively obtains a compensation rate value and a compensation heading angle value, and includes:
substituting the state equation and the observation equation into a preset Kalman filter, and calling a noise statistics time-varying estimator by the preset Kalman filter to estimate according to the statistical noise to obtain an estimation parameter;
constructing a kinetic equation by using the evaluation parameters;
and carrying out inverse dynamics solution on the dynamic equation to respectively obtain a compensation speed value and a compensation heading angle value.
Optionally, the constructing a kinetic equation using the evaluation parameters includes:
substituting the evaluation parameters into a preset dynamic model to obtain a dynamic equation;
the preset dynamic model is obtained by constructing a position coordinate system and a first-order linear response model based on the catamaran unmanned ship;
the kinetic model is shown as follows:
in the above formula, δ is the input rudder angle, r is the yawing velocity of the unmanned ship, K r And T r Respectively are ship maneuvering indexes; a and b are speed equation parameters of the unmanned ship on the water surface, u is the navigation speed of the unmanned ship, and epsilon is an accelerator input value.
Optionally, the regulatory module is further configured to:
respectively calculating an expected course value and an expected speed value by adopting the return control parameter and the compensation control parameter;
calculating a thrust parameter of a propeller of the unmanned ship based on the expected heading value and the expected speed value;
and controlling the unmanned ship to return to the fixed point position according to the thrust parameters.
Optionally, the thrust parameter includes: left and right throttle amounts;
the left throttle amount is calculated as follows:
the right throttle amount is calculated as follows:
in the above formula, T left Left throttle amount, T right Is the right throttle amount, k 1 And k 2 To power distribution scaling factor, thurst is the virtual thrust equivalent to the desired speed value, rudder is the virtual rudder amount equivalent to the desired heading value, where,
r is a fixed point holding tolerance radius value, d is a position distance value,
is the deviation angle value.
Optionally, the determining of the unmanned ship deviation fixed point position specifically includes:
calculating a position distance value between the current position and the fixed point position of the unmanned ship;
if the position distance value is larger than the fixed point holding tolerance radius value, determining that the unmanned ship deviates from the fixed point position;
and if the position distance value is smaller than the fixed point holding tolerance radius value, determining that the unmanned ship does not deviate from the fixed point position.
It can be clearly understood by those skilled in the art that, for convenience and brevity, the specific working process of the apparatus described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
Further, an embodiment of the present application further provides an electronic device, including: the control method comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the program to realize the fixed-point return regulation and control method of the catamaran unmanned ship according to the embodiment.
Further, an embodiment of the present application further provides a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and the computer-executable instructions are used to enable a computer to execute the fixed-point return regulation and control method for a catamaran unmanned ship according to the foregoing embodiment.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A fixed-point return regulation and control method of a catamaran unmanned ship is characterized by comprising the following steps:
when the unmanned ship deviates from the fixed point position, respectively calculating a return control parameter of the unmanned ship and a compensation control parameter for coping with environmental disturbance;
and controlling the unmanned ship to return to the fixed point position based on the return control parameter and the compensation control parameter.
2. The fixed-point return regulation and control method of the catamaran unmanned ship according to claim 1, wherein the return control parameters include a return speed value and a return angle value;
the calculation operation of the return flight control parameter specifically comprises the following steps:
respectively acquiring the current position and the deviation angle value of the unmanned ship;
calculating a position distance value between the current position and the fixed point position of the unmanned ship;
calculating a return travel speed value based on a difference between the position distance value and the fixed point holding tolerance radius value;
and calculating a course angle value based on the deviation angle value.
3. The fixed-point return regulation and control method of the catamaran unmanned ship according to claim 2, wherein the calculation operation of the deviation angle value specifically comprises:
respectively acquiring the longitude and the latitude of the current position and the longitude and the latitude of the fixed point position;
calculating a deviation angle value based on the longitude and latitude of the current location and the longitude and latitude of the fixed point location.
4. The fixed-point return regulation and control method of the catamaran unmanned ship according to claim 1, wherein the compensation control parameter includes a compensation speed value and a compensation angle value;
the calculation reference of the compensation control parameter is specifically as follows:
respectively acquiring a real-time state parameter and a historical state parameter;
constructing a state equation by using the historical state parameters and preset first disturbance parameters, and constructing an observation equation by using the real-time state parameters and preset second disturbance parameters;
a preset Kalman filter is called to estimate the state equation and the observation equation, and a compensation speed value and a compensation heading angle value are obtained respectively;
the preset Kalman filter is provided with a noise statistics time-varying estimator, and the preset Kalman filter is a Kalman filtering model which is set up by taking the historical state parameter and the first disturbance parameter of the unmanned ship as state variables and taking the real-time measurement state parameter and the second disturbance parameter of the unmanned ship as measurement variables.
5. The fixed-point return regulation and control method of the catamaran unmanned ship according to claim 4, wherein the step of estimating the state equation and the observation equation by calling a preset Kalman filter to obtain a compensated speed value and a compensated heading angle value respectively comprises the steps of:
substituting the state equation and the observation equation into a preset Kalman filter, and calling a noise statistics time-varying estimator by the preset Kalman filter to estimate according to the statistical noise to obtain an estimation parameter;
constructing a kinetic equation by using the evaluation parameters;
and carrying out inverse dynamics solution on the dynamic equation to respectively obtain a compensation speed value and a compensation heading angle value.
6. The fixed-point return regulation and control method of the catamaran unmanned ship according to claim 5, wherein the building of the kinetic equation by using the evaluation parameters includes:
adding the evaluation parameters into a preset dynamic model, and solving a dynamic equation;
the preset dynamic model is obtained by constructing a position coordinate system and a first-order linear response model based on the catamaran unmanned ship;
the kinetic model is shown as follows:
in the above formula, δ is the input rudder angle, r is the yawing velocity of the unmanned ship, K r And T r Respectively are ship maneuvering indexes; a and b are speed equation parameters of the unmanned ship on the water surface, u is the navigation speed of the unmanned ship, and epsilon is an accelerator input value.
7. The fixed-point return regulation and control method for the catamaran unmanned ship according to claim 1, wherein the controlling the unmanned ship to return to the fixed-point position based on the return control parameter and the compensation control parameter includes:
respectively calculating an expected course value and an expected speed value by adopting the return control parameter and the compensation control parameter;
calculating a thrust parameter of a propeller of the unmanned ship based on the expected heading value and the expected speed value;
and controlling the unmanned ship to return to the fixed point position according to the thrust parameters.
8. The fixed-point return regulation and control method of the catamaran unmanned ship according to claim 7, wherein the thrust parameters include: left and right throttle amounts;
the left throttle amount is calculated as follows:
the right throttle amount is calculated as follows:
in the above formula, T left Left throttle amount, T right Is the right throttle amount, k 1 And k 2 To power distribution scaling factor, thurst is the virtual thrust equivalent to the desired speed value, rudder is the virtual rudder amount equivalent to the desired heading value, where,
r is a fixed point holding tolerance radius value, d is a position distance value,
is the deviation angle value.
9. The fixed-point return regulation and control method for the catamaran unmanned ship according to any one of claims 1 to 8, wherein the determining of the position of the unmanned ship deviating from the fixed point specifically comprises:
calculating a position distance value between the current position and the fixed point position of the unmanned ship;
if the position distance value is larger than the fixed point holding tolerance radius value, determining that the unmanned ship deviates from the fixed point position;
and if the position distance value is smaller than the fixed point holding tolerance radius value, determining that the unmanned ship does not deviate from the fixed point position.
10. A fixed-point return regulation and control device of a catamaran unmanned ship, which is characterized by comprising:
the calculation module is used for respectively calculating a return control parameter of the unmanned ship and a compensation control parameter for dealing with environmental disturbance when the unmanned ship is determined to deviate from a fixed point position;
and the regulation and control module is used for controlling the unmanned ship to return to a fixed-point position based on the return control parameter and the compensation control parameter.
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| CN117742352A (en) * | 2024-02-21 | 2024-03-22 | 陕西欧卡电子智能科技有限公司 | Vector propulsion unmanned ship-based track control method, device, equipment and medium |
| CN117742352B (en) * | 2024-02-21 | 2024-05-10 | 陕西欧卡电子智能科技有限公司 | Vector propulsion unmanned ship-based track control method, device, equipment and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117742352A (en) * | 2024-02-21 | 2024-03-22 | 陕西欧卡电子智能科技有限公司 | Vector propulsion unmanned ship-based track control method, device, equipment and medium |
| CN117742352B (en) * | 2024-02-21 | 2024-05-10 | 陕西欧卡电子智能科技有限公司 | Vector propulsion unmanned ship-based track control method, device, equipment and medium |
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