CN115268459A - Unmanned ship autonomous berthing control method based on double water-jet propellers - Google Patents
Unmanned ship autonomous berthing control method based on double water-jet propellers Download PDFInfo
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Abstract
The invention discloses an unmanned ship autonomous berthing control method based on double water-jet propellers. Aiming at a type of unmanned boat driven by double-jet pump power, a berthing control strategy of stabilizing outside a berth and then approaching to the berth is designed. The unmanned ship motion characteristic is considered, the real-time detection information of the berth by the laser radar and the optical sensor is combined, the autonomous berthing control algorithm is designed, a three-layer cascade control strategy is adopted in the algorithm, and the problems of limited control under low speed, easy environmental interference, high berthing precision control requirement and the like are solved; the characteristic of double-jet pump power driving of the unmanned ship is considered, a power distribution algorithm is designed for low-speed accurate vector control, and thrust synthesis in all directions is completed through double-jet pump steering and bucket reversing complex logic control, so that the autonomous berthing function of the unmanned ship is realized. Under the condition of different storm interferences, the berthing success rate of 100 percent can be realized, the stability and the practicability of a control strategy are effectively verified, the autonomy of the unmanned ship is further improved, and the personnel operation is reduced.
Description
Technical Field
The invention belongs to the technical field of unmanned ship autonomous control, and particularly relates to an unmanned ship autonomous berthing control method based on a double-water-jet propeller.
Background
The main problems of the autonomous berthing control of the unmanned ship are ship control and positioning control under limited water areas, uncertain models and strong environmental disturbance. The berthing control of the unmanned ship entering a port relates to aspects of route planning, route tracking, stabilizing control and the like, and specifically comprises deceleration control, parking control, backing control, vector control, heading control and the like. The unmanned ship is mainly faced with the problems of model uncertainty, interference uncertainty, under-actuated stabilization, low control device precision and the like, so that the autonomous berthing and the undocking of the unmanned ship are technical problems which are not realized by engineering in the field of unmanned ship control.
In the patent application entitled "motion control method for unmanned ship autonomous berthing" in publication No. CN108267955B at 30/3/2021, the fuzzy control rule is used to adaptively adjust PID control parameters, so as to solve the problem of motion control of unmanned ships during berthing, but the control strategy only designs speed and heading control algorithms to stabilize the heading and speed of unmanned ships at different stages, and does not consider the problem of position deviation and terminal berthing in the process of unmanned ship berthing.
On published application No. CN108459602B, entitled "autonomous berthing method of under-actuated unmanned ship in multi-obstacle complex environment", 2021 year 3 and 30 days, the patent application realizes autonomous berthing of unmanned ship under multi-obstacle condition, fully considers self-constraint and characteristics of unmanned ship, but mainly explains planning and obstacle avoidance process, and does not relate to control operation and berthing end processing of berthing process.
In a word, the autonomous berthing control difficulty of the unmanned ship is as follows: the maneuverability of the unmanned ship in a low-speed state is limited, and the unmanned ship cannot respond to an instruction timely and accurately; the unmanned ship is greatly influenced by external interference such as wind, waves and the like when moving at low speed; the precision of the unmanned ship control device is not high, errors exist, and the unmanned ship control device is contrary to the requirement of high control precision of berthing. At present, research results in the unmanned boat berthing technology are few.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and from the practical application, an autonomous berthing control strategy is designed on the basis of the power drive of the double jet pumps of the unmanned boat, so that the complex berthing problem in the actual use process of the unmanned boat is solved, the aim of fewer personnel is fulfilled, the autonomous berthing task of the actual unmanned boat under different sea conditions is completed, and a better effect is achieved.
The technical solution for realizing the purpose of the invention is as follows: an unmanned ship autonomous berthing control method based on double water jet propellers, the method comprising the following steps:
step 1, obtaining navigation information of the unmanned ship through navigation equipment of the unmanned ship, wherein the navigation information comprises the position P (x) of the unmanned ship c ,y c ) Speed V c Heading direction
And course angular velocity ω c ；
Step 2, detecting berth information including berth type and berth profile information through a laser radar and an optical equipment sensor;
step 3, combining the berth information, and extrapolating a distance twice the ship length from the geometric center of the berth along the berth direction to obtain a berth outer ballast point;
step 4, stabilizing control is carried out on the outer stabilizing point of the berth of the unmanned ship, and then the position error e is calculated in real time according to the longitude and latitude of the berth stabilizing point, expected stabilized heading information and the navigation information of the unmanned ship obtained in the step 1 xy And heading error
Step 5, based on the position error e through a berthing control algorithm xy And heading error
Calculating to obtain X, Y and Z control instructions, and then decomposing the control instructions into unmanned boat actuator control instructions through a power distribution algorithm;
step 6, judging whether the average error of the position and the heading within t seconds is kept in an expected range in real time, if not, returning to the step 4, otherwise, executing the step 7;
Step 8, the error calculated in the step 7 is brought into the berthing control algorithm, and X, Y and Z control instructions are obtained through calculation;
step 9, carrying out vector control force decomposition on the result of the step 8 through a power distribution algorithm to obtain an actuator control instruction;
step 10, judging whether the average position error, the heading error and the speed of the unmanned ship are kept within an expected range within t seconds in real time, if not, returning to the step 7, otherwise, executing the next step;
and 11, judging whether the distance between the unmanned boat and the berth edge is less than l meters or not, finishing autonomous berthing if the distance is less than l meters, and performing vector control on the unmanned boat to berth the berth edge until the distance is less than l meters and the berthing is finished if the distance is more than l meters.
Further, step 2 specifically includes:
step 2-1, collecting images of a parking area through an optical equipment sensor;
step 2-2, detecting that berths capable of being stopped in the image are set B, wherein any berth element in the set B represents B i By four coordinate points { (x) 1 ,y 1 ),(x 2 ,y 2 ),(x 3 ,y 3 ),(x 4 ,y 4 ) Indicates that these four points are the berth in the imageThe edge points are sequentially connected with each edge according to the lighting sequence to obtain a berth area;
step 2-3, mixing b i Four points of (x) 1 ,y 1 ),(x 2 ,y 2 ),(x 3 ,y 3 ),(x 4 ,y 4 ) Converting to four spatial points (x) 1 ,y 1 ,z 1 ),(x 2 ,y 2 ,z 2 ),(x 3 ,y 3 ,z 3 ),(x 4 ,y 4 ,z 4 )}；
Step 2-4, adding the four converted space points into the corresponding laser radar three-dimensional point cloud, respectively taking the four space points as the center to obtain all points in a sphere with the radius of epsilon, then, the centers of all the points are calculated and regarded as the berth feature points, and the berth contour information P = (P) is obtained 1 ,P 2 ,P 3 …P k ) K is more than or equal to 2, the width W of the berth, the depth H and the expected heading angle of the berthing unmanned boat
And thus determine the type of berth, including rectangular berths, linear berths.
Further, in step 5, the berthing control algorithm is used for basing the position error e xy And heading error
Calculating to obtain X, Y and Z control instructions, and specifically comprising the following steps:
(1) The unmanned ship berthing control is divided into three control layers, wherein the first layer is used for controlling the heading, the second layer is used for controlling the Y-axis direction, and the third layer is used for controlling the X-axis direction, so that the stabilization of the heading and the XY-direction position is realized;
(2) Real-time acquisition of unmanned surface vehicle position coordinates (x) t ,y t ) Heading direction
Coordinate (x) of expected position under unmanned ship satellite coordinate system b ,y b ) And desired heading information;
(3) T seconds is calculated according to (1)X direction e of unmanned ship relative to expected position point in time period x Error, Y-direction e y Error and heading error
Averaging sampling values, inputting the three error quantities into a PID control algorithm, and respectively performing X-direction control, Y-direction control and Z-direction control calculation, wherein k is p1 ,k d1 ,k i1 ,k p2 ,k d2 ,k i2 ,k p3 ,k d3 ,k i3 Are all adjustable parameters of a control algorithm;
the output is X, Y and Z instructions, wherein X is a left-right translation instruction, Y is a forward-backward instruction, and Z is a steering instruction;
(4) Setting a priority control strategy, adopting different priority control strategies in different application scenes, and in the berthing process, if a target berth is a rectangular berth, giving the highest priority to the error in the X-axis direction, preferentially and independently performing X-axis direction translation control operation when the error in the X-axis direction exceeds a preset threshold value, and then performing stabilizing control in the heading direction and the Y-axis direction on the basis, and if the error in the X-axis direction does not exceed the preset threshold value, performing comprehensive control in the X-axis direction, the Y-axis direction and the Z-axis direction; if the target berth is a linear berth, the priority of the Y-axis direction error is highest, when the Y-axis direction error reaches a preset threshold value, longitudinal control operation is preferentially and independently carried out, and then stabilization control in the heading direction and the X-axis direction is carried out on the basis, and if the X-axis direction error does not exceed the preset threshold value, comprehensive control in the X, Y and Z directions is carried out.
Further, in the step 5, the control command is decomposed into the unmanned ship actuator control command through a power distribution algorithm, and the method specifically comprises the following steps:
(1) The input quantity is X, Y and Z control instructions, and the translation control vector H of the unmanned ship is obtained through calculation according to the X and Y control quantities;
(2) Calculating and synthesizing vector thrust and steering moment of the unmanned ship through the control of the two jet pumps, setting action points 1 and 2 as action force points of a left jet pump and a right jet pump respectively, when the unmanned ship translates right, a left jet pump rudder and a reverse hopper are in a forward position to generate F1 action force, a right jet pump rudder and a reverse hopper position to generate F2 and F3 action forces, synthesizing the three forces into F, and simultaneously, a steering generates anticlockwise rotation moment, the clockwise rotation moment generated by the action forces is tau = F1L 1+ F2L 2-F3L 3, L1 is the moment arm length of F1 in the center of the unmanned ship, L2 is the moment arm length of F2 in the center of the unmanned ship, L3 is the moment arm length of F3 in the center of the unmanned ship, the two rotation moments are offset, the heading of the unmanned ship can be kept basically unchanged, and finally vector translation is realized; the magnitude and direction of the turning moment and the translation force F are controlled by changing the magnitude of the steering, the bucket dumping angle and the rotating speed, so that the vector translation in the direction of 360 degrees of the plane is realized;
(3) According to the vector control principle of the double-jet pump, vector control combinations in four directions are calibrated in advance, namely forward movement, backward movement, right translation and left translation, and other directions can be subjected to vector combination control linearization calculation in the four directions to obtain corresponding calibration control combinations; the forward movement comprises left and right reverse hopper forward movement, the rudder angle is neutral, and the forward movement speed is determined by the forward movement angle; the reversing comprises reversing left and right reversing buckets, the steering angle is in the middle position, and the reversing speed is determined by the reversing angle; the right translation comprises that the left jet pump and the right jet pump drive a left rudder, a left inverted hopper is used for driving the vehicle, and a right inverted hopper is used for backing the vehicle; the left translation comprises that the left spray pump and the right spray pump both drive a right rudder, a left inverted hopper backs a car, and a right inverted hopper forwards the car;
(4) And combining the size and direction of the H vector and the speed and heading information in the XY direction of the unmanned boat to obtain a vector direction error, a heading control error and a speed error, respectively inputting the vector direction error, the heading control error and the speed error into a model-free adaptive control algorithm, namely an MFAC algorithm, obtaining the steering, tipping and rotating speed control quantities, and accumulating the steering, tipping and rotating speed control quantities into a control combination corresponding to the vector direction, thereby finally obtaining the unmanned boat actuator control instruction.
Compared with the prior art, the invention has the remarkable advantages that:
1) Aiming at the actual problem of unmanned ship berthing control, an unmanned ship autonomous berthing control strategy is designed on the basis of double-jet pump vector control, the problems of berthing accuracy control and environmental disturbance under the condition of unmanned ship under-actuated low speed can be well solved, the autonomous performance of the unmanned ship is further improved, and personnel operation is reduced.
2) The autonomous berthing control algorithm is designed by considering the motion characteristics of the unmanned ship and combining real-time detection information of the laser radar and the optical sensor on berths, and adopts a three-layer cascade control strategy, so that the problems of limited control at low speed, easiness in environmental interference, requirement on berthing high-precision control and the like are solved.
3) The method is characterized in that the characteristics of double-jet pump power driving of the unmanned ship are considered, a power distribution algorithm is designed for low-speed accurate vector control, and thrust synthesis in all directions is completed through the complex logic control of double-jet pump steering and bucket dumping, so that the autonomous berthing function of the unmanned ship is realized.
The present invention is described in further detail below with reference to the attached drawing figures.
Drawings
Fig. 1 is a flow chart of the unmanned ship autonomous berthing control method based on the double water-jet propellers of the invention.
Fig. 2 is a schematic diagram of two typical berthing modes, wherein fig. 2 (a) is a straight berth and fig. 2 (b) is a groove berth.
Fig. 3 is a vector control diagram of the jet pump.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, in combination with fig. 1, there is provided a dual-jet propeller-based unmanned ship autonomous berthing control method, comprising the steps of:
step 1, acquiring navigation information of the unmanned ship through navigation equipment of the unmanned ship, wherein the navigation information comprises an unmanned ship position P (x) c ,y c ) Speed V c Heading direction
And course angular velocity ω c ；
Step 2, detecting berth information including berth type and berth profile information through a laser radar and an optical equipment sensor;
step 3, combining the berth information, and extrapolating a distance twice the ship length from the geometric center of the berth along the berth berthing direction to obtain a berth outer ballast fixed point;
step 4, stabilizing control is carried out on the outer stabilizing point of the berth of the unmanned ship, and then the position error e is calculated in real time according to the longitude and latitude of the berth stabilizing point, expected stabilized heading information and the navigation information of the unmanned ship obtained in the step 1 xy And heading error
Step 5, based on the position error e through a berthing control algorithm xy And heading error
Calculating to obtain X, Y and Z control instructions, and then decomposing the control instructions into unmanned boat actuator control instructions through a power distribution algorithm;
step 6, judging whether the average error of the position and the heading within 5 seconds is kept in an expected range in real time, if not, returning to the step 4, otherwise, executing the step 7;
Step 8, the error calculated in the step 7 is brought into the berthing control algorithm, and X, Y and Z control instructions are obtained through calculation;
step 9, carrying out vector control force decomposition on the result of the step 8 through a power distribution algorithm to obtain an actuator control instruction;
step 10, judging whether the average position error, the heading error and the speed of the unmanned ship are kept within an expected range within 5 seconds in real time, if not, returning to the step 7, otherwise, executing the next step;
and 11, judging whether the distance between the unmanned boat and the berth edge is less than 0.2 m or not, finishing autonomous berthing if the distance is less than 0.2 m, and carrying out vector control on the berth edge of the berth by the unmanned boat if the distance is more than 0.2 m until the distance is less than 0.2 m and finishing berthing.
Further, in one embodiment, step 2 specifically includes:
step 2-1, collecting images of a parking area through an optical equipment sensor;
step 2-2, detecting that berths capable of parking in the image are set B, wherein any berth element in B represents B i By four coordinate points { (x) 1 ,y 1 ),(x 2 ,y 2 ),(x 3 ,y 3 ),(x 4 ,y 4 ) Representing that the four points are edge points of the parking position in the image, and sequentially connecting all sides according to the illumination sequence to obtain a parking position area (generally a quadrangle or a straight line);
step 2-3, mixing b i Four points of (x) 1 ,y 1 ),(x 2 ,y 2 ),(x 3 ,y 3 ),(x 4 ,y 4 ) Converting to four spatial points (x) 1 ,y 1 ,z 1 ),(x 2 ,y 2 ,z 2 ),(x 3 ,y 3 ,z 3 ),(x 4 ,y 4 ,z 4 )}；
Step 2-4, adding the four converted space points into corresponding laser radar three-dimensional point clouds, respectively taking the four space points as centers to obtain all points in a sphere with the radius of epsilon, then calculating the centers of all points, and adding the centers of all pointsIt is regarded as a berth characteristic point, thus obtaining berth outline information P = (P) 1 ,P 2 ,P 3 …P k ) K is more than or equal to 2, the width W of the berth, the depth H and the expected heading angle of the berthing unmanned ship
And thus determine the berth type. Fig. 2 shows two typical berthing modes of the present invention, wherein (a) is a straight berth, and (b) is a groove-shaped berth, the straight berth generally adopts a parallel approach mode, and the groove-shaped berth adopts a reverse berthing mode.
Further, in one embodiment, the position error e is based on the position error in step 5 by a berthing control algorithm xy And heading error
Calculating to obtain X, Y and Z control instructions, and specifically comprising the following steps:
(1) The unmanned ship berthing control is divided into three control layers, wherein the first layer is used for controlling the heading, the second layer is used for controlling the Y-axis direction, and the third layer is used for controlling the X-axis direction, so that the stabilization of the heading and the XY-direction position is realized;
(2) Real-time acquisition of unmanned surface vehicle position coordinates (x) t ,y t ) Heading direction
Coordinate (x) of expected position under unmanned ship satellite coordinate system b ,y b ) And expected heading information;
(3) Calculating the X direction e of the unmanned ship relative to the expected position point within the time period of t seconds according to the step (1) x Error, Y-direction e y Error and heading error
Averaging sampling values, then respectively inputting the three error quantities into a PID control algorithm, and respectively carrying out X-direction control, Y-direction control and Z-direction control resolving;
the output is X, Y and Z instructions, wherein X is a left-right translation instruction, Y is a forward-backward instruction, and Z is a steering instruction;
(4) As the unmanned boat is an under-actuated system, the control characteristics of the double jet pumps are combined, when X, Y and Z control instructions are executed simultaneously, the control effect cannot achieve the effect of independent control, a priority control strategy is set, different application scenes adopt different priority control strategies, in the berthing process, if a target berth is a rectangular berth, the error priority in the X-axis direction is highest, when the error in the X-axis direction exceeds 1 meter, the translation control operation in the X-axis direction is preferentially and independently performed, and then the stabilization control in the heading direction and the Y-axis direction is performed on the basis, and if the error in the X-axis direction does not exceed 1 meter, the comprehensive control in the X, Y and Z directions is performed; if the target berth is a linear berth, the priority of the error in the Y-axis direction is highest, when the error in the Y-axis direction reaches 1 meter, longitudinal control operation is preferentially and independently carried out, and then the stabilization control in the heading direction and the X-axis direction is carried out on the basis, and if the error in the X-axis direction does not exceed 1 meter, the comprehensive control in the X-axis direction, the Y-axis direction and the Z-axis direction is carried out. According to different berthing or dynamic positioning task characteristics, different vector control strategies are carried out on the premise of ensuring the safety of the unmanned ship.
Further, in one embodiment, the step 5 of decomposing the control command into the unmanned ship actuator control command through a power distribution algorithm specifically includes:
(1) The input quantity is X, Y and Z control instructions, and the translation control vector H of the unmanned ship is obtained by calculation according to the X and Y control quantities;
(2) The double jet pumps have the capability of independently steering, dumping and rotating speed control, the vector thrust and the steering torque of the unmanned ship are calculated and synthesized through the control of the two jet pumps, and the jet pump vector control is shown in figure 3. Calculating and synthesizing vector thrust and steering torque of the unmanned boat through the control of the two jet pumps, setting action points 1 and 2 as action force points of a left jet pump and a right jet pump respectively, wherein the action points are shown as a schematic diagram of right translation of the unmanned boat, the left jet pump left rudder is used for reversing the boat to generate F1 action force, the right jet pump left rudder is used for reversing the boat to generate F2 and F3 action force, the three forces are synthesized into F, meanwhile, the left jet pump left rudder generates anticlockwise turning torque, the clockwise turning torque generated by the action force is tau = F1 x L1+ F2 x L2-F3 x L3, the turning torque is offset, and the unmanned boat realizes vector translation; the magnitude and direction of the turning moment and the translation force F are controlled by changing the magnitude of the steering, the bucket dumping angle and the rotating speed, so that the vector translation in the direction of 360 degrees of the plane is realized;
(3) According to the vector control principle of the double-jet pump, vector control combinations in four directions are calibrated in advance, namely forward movement, backward movement, right translation and left translation, and other directions can be subjected to vector combination control linearization calculation in the four directions to obtain corresponding calibration control combinations; the forward movement comprises left and right reverse bucket forward movement, the rudder angle is in the middle position, and the forward movement speed is determined by the forward movement angle; the reversing comprises reversing left and right reversing buckets, the steering angle is in the middle position, and the reversing speed is determined by the reversing angle; the right translation comprises that the left jet pump and the right jet pump drive a left rudder, a left inverted hopper is used for driving the vehicle, and a right inverted hopper is used for backing the vehicle; the left translation comprises that the left spray pump and the right spray pump both drive a right rudder, a left inverted hopper backs a car, and a right inverted hopper forwards the car;
(4) And combining the size and direction of the H vector and the speed and heading information in the XY direction of the unmanned boat to obtain a vector direction error, a heading control error and a speed error, respectively inputting the vector direction error, the heading control error and the speed error into a model-free adaptive control algorithm, namely an MFAC algorithm, and performing small-range adjustment on the basis of a calibration control combination to obtain steering, turning and rotating speed control quantities and accumulating the steering, turning and rotating speed control quantities into a control combination corresponding to the vector direction so as to finally obtain the unmanned boat actuator control command.
In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
step 1, obtaining navigation information of the unmanned ship through navigation equipment of the unmanned ship, wherein the navigation information comprises the position P (x) of the unmanned ship c ,y c ) Speed V c Heading direction
And course angular velocity ω c ；
Step 2, detecting berth information including berth type and berth contour information through a laser radar and an optical equipment sensor;
step 3, combining the berth information, and extrapolating a distance twice the ship length from the geometric center of the berth along the berth direction to obtain a berth outer ballast point;
step 4, stabilizing control is carried out on an outer stabilizing point of the berth of the unmanned ship, and then the position error e is calculated in real time according to the longitude and latitude of the berth stabilizing point, expected stabilized heading information and the navigation information of the unmanned ship obtained in the step 1 xy And heading error
Step 5, based on the position error e through a berthing control algorithm xy And heading error
Calculating to obtain X, Y and Z control instructions, and then decomposing the control instructions into unmanned ship actuator control instructions through a power distribution algorithm;
step 6, judging whether the average error of the position and the heading within 5 seconds is kept in an expected range in real time, if not, returning to the step 4, otherwise, executing the step 7;
Step 8, the error calculated in the step 7 is brought into the berthing control algorithm, and X, Y and Z control instructions are obtained through calculation;
step 9, carrying out vector control force decomposition on the result of the step 8 through a power distribution algorithm to obtain an actuator control instruction;
step 10, judging whether the average position error, the heading error and the speed of the unmanned ship are kept within an expected range within 5 seconds in real time, if not, returning to the step 7, otherwise, executing the next step;
and 11, judging whether the distance between the unmanned boat and the berth edge is less than 0.2 m or not, finishing autonomous berthing if the distance is less than 0.2 m, and carrying out vector control on the berth edge of the berth by the unmanned boat if the distance is more than 0.2 m until the distance is less than 0.2 m and finishing berthing.
The specific definition of each step can be referred to the definition of the unmanned ship autonomous berthing control method based on the double water jet propeller, and the detailed description is omitted here.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
step 1, acquiring navigation information of the unmanned ship through navigation equipment of the unmanned ship, wherein the navigation information comprises an unmanned ship position P (x) c ,y c ) Speed V c Heading direction
And course angular velocity ω c ；
Step 2, detecting berth information including berth type and berth profile information through a laser radar and an optical equipment sensor;
step 3, combining the berth information, and extrapolating a distance twice the ship length from the geometric center of the berth along the berth berthing direction to obtain a berth outer ballast fixed point;
step 4, stabilizing control is carried out on the outer stabilizing point of the berth of the unmanned ship, and then the position is calculated in real time according to the longitude and latitude of the berth stabilizing point, expected stabilized heading information and the navigation information of the unmanned ship obtained in the step 1Error e xy And heading error
Step 5, based on the position error e through a berthing control algorithm xy And heading error
Calculating to obtain X, Y and Z control instructions, and then decomposing the control instructions into unmanned ship actuator control instructions through a power distribution algorithm;
step 6, judging whether the average error of the position and the heading within 5 seconds is kept in an expected range in real time, if not, returning to the step 4, otherwise, executing the step 7;
Step 8, the error calculated in the step 7 is brought into the berthing control algorithm, and X, Y and Z control instructions are obtained through calculation;
step 9, carrying out vector control force decomposition on the result of the step 8 through a power distribution algorithm to obtain an actuator control instruction;
step 10, judging whether the average position error, the heading error and the speed of the unmanned ship are kept within an expected range within 5 seconds in real time, if not, returning to the step 7, otherwise, executing the next step;
and 11, judging whether the distance between the unmanned boat and the berth edge is less than 0.2 m or not, finishing autonomous berthing if the distance is less than 0.2 m, and carrying out vector control on the berth edge of the berth by the unmanned boat if the distance is more than 0.2 m until the distance is less than 0.2 m and finishing berthing.
The specific definition of each step can be referred to the definition of the unmanned ship autonomous berthing control method based on the double water jet propeller, and the detailed description is omitted here.
Aiming at the actual problem of unmanned ship berthing control, the invention designs an unmanned ship autonomous berthing control strategy on the basis of double-jet pump vector control, and can solve the problems of berthing accurate control and environmental interference under the condition of unmanned ship under-actuated low speed. Multiple boat verification tests are carried out for verifying the control strategy, the mooring success rate can be 100% under the condition of different storm interference, the stability and the practicability of the control strategy are effectively verified, the autonomy of the unmanned boat is further improved, and the personnel operation is reduced.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and the description are only for illustrating the principle of the present invention, and any modifications, equivalent substitutions, improvements and the like within the spirit and scope of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An unmanned ship autonomous berthing control method based on double water jet propellers is characterized by comprising the following steps:
step 1, acquiring navigation information of the unmanned ship through navigation equipment of the unmanned ship, wherein the navigation information comprises an unmanned ship position P (x) c ,y c ) Speed V c Heading direction
And course angular velocity ω c ；
Step 2, detecting berth information including berth type and berth contour information through a laser radar and an optical equipment sensor;
step 3, combining the berth information, and extrapolating a distance twice the ship length from the geometric center of the berth along the berth berthing direction to obtain a berth outer-town fixed point;
step 4, performing stabilization control on an outer stabilization point of the berth of the unmanned ship, and then stabilizing according to the longitude and latitude and the expectation of the berth stabilization pointCalculating the position error e in real time according to the heading information and the navigation information of the unmanned ship obtained in the step 1 xy And heading error
Step 5, based on the position error e through a berthing control algorithm xy And heading error
Calculating to obtain X, Y and Z control instructions, and then decomposing the control instructions into unmanned ship actuator control instructions through a power distribution algorithm;
step 6, judging whether the average error of the position and the heading within t seconds is kept in an expected range in real time, if not, returning to the step 4, otherwise, executing the step 7;
step 7, after the berth outer stabilization is finished, the unmanned ship is controlled to enter the berth, the distance d between the unmanned ship and each edge of the berth to be berthed is detected by the sensing sensor in real time, and the position error e between the unmanned ship and the geometric center point of the berth is calculated in real time xy And berthing desired heading error
Step 8, the error calculated in the step 7 is brought into the berthing control algorithm, and X, Y and Z control instructions are obtained through calculation;
step 9, carrying out vector control force decomposition on the result of the step 8 through a power distribution algorithm to obtain an actuator control instruction;
step 10, judging whether the average position error, the heading error and the speed of the unmanned ship are kept in an expected range within t seconds in real time, if not, returning to the step 7, otherwise, executing the next step;
and 11, judging whether the distance between the unmanned boat and the berth edge is less than l meters or not, finishing autonomous berthing if the distance is less than l meters, and performing vector control on the unmanned boat to berth the berth edge until the distance is less than l meters and the berthing is finished if the distance is more than l meters.
2. The unmanned ship autonomous berthing control method based on double water jet thrusters according to claim 1, wherein the step 2 specifically comprises:
step 2-1, collecting images of a parking area through an optical device sensor;
step 2-2, detecting that berths capable of being stopped in the image are set B, wherein any berth element in the set B represents B i Is composed of four coordinate points { (x) 1 ,y 1 ),(x 2 ,y 2 ),(x 3 ,y 3 ),(x 4 ,y 4 ) Representing that the four points are edge points of the berth in the image, and sequentially connecting all sides according to the sequence to obtain a berth area;
step 2-3, mixing b i Four points of (x) 1 ,y 1 ),(x 2 ,y 2 ),(x 3 ,y 3 ),(x 4 ,y 4 ) Converting to four spatial points (x) 1 ,y 1 ,z 1 ),(x 2 ,y 2 ,z 2 ),(x 3 ,y 3 ,z 3 ),(x 4 ,y 4 ,z 4 )}；
Step 2-4, adding the four converted space points into corresponding laser radar three-dimensional point clouds, respectively taking the four space points as centers to obtain all points in a sphere with the radius of epsilon, then calculating the centers of all points, and regarding the centers as berth characteristic points, thereby obtaining berth contour information P = (P =) 1 ,P 2 ,P 3 …P k ) K is more than or equal to 2, the width W of the berth, the depth H and the expected heading angle of the berthing unmanned ship
And thus determine the type of berth, including rectangular berth, linear berth.
3. The unmanned ship autonomous berthing control method based on double water jet thrusters of claim 1, wherein in the step 5, the berthing control algorithm is adopted, and the berthing control algorithm is based on the position error e xy And heading error
Calculating to obtain X, Y and Z control instructions, and specifically comprising the following steps:
(1) The unmanned ship berthing control is divided into three control layers, wherein the first layer is used for controlling the heading, the second layer is used for controlling the Y-axis direction, and the third layer is used for controlling the X-axis direction, so that the stabilization of the heading and the XY-direction position is realized;
(2) Real-time acquisition of unmanned surface vehicle position coordinates (x) t ,y t ) Heading direction
Coordinate (x) of expected position under unmanned ship satellite coordinate system b ,y b ) And desired heading information;
(3) Obtaining the X direction e of the unmanned ship relative to the expected position point in the t second time period through calculation according to the step (1) x Error, Y direction e y Error and heading error
Average sampling value, then respectively inputting three error quantities into PID control algorithm, respectively making X-direction control, Y-direction control and Z-direction control calculation, in which k is p1 ,k d1 ,k i1 ,k p2 ,k d2 ,k i2 ,k p3 ,k d3 ,k i3 Are all adjustable parameters of a control algorithm;
the output is X, Y and Z instructions, wherein X is a left-right translation instruction, Y is a forward-backward instruction, and Z is a steering instruction;
(4) Setting a priority control strategy, adopting different priority control strategies in different application scenes, and in the berthing process, if a target berth is a rectangular berth, the X-axis direction error has the highest priority, preferentially and independently performing X-axis direction translation control operation when the X-axis direction error exceeds a preset threshold value, and then performing stabilizing control in the heading direction and the Y-axis direction on the basis, and if the X-axis direction error does not exceed the preset threshold value, performing comprehensive control in the X, Y and Z directions; if the target berth is a linear berth, the priority of the error in the Y-axis direction is highest, when the error in the Y-axis direction reaches a preset threshold value, longitudinal control operation is preferentially and independently carried out, and then stabilization control in the heading direction and the X-axis direction is carried out on the basis, and if the error in the X-axis direction does not exceed the preset threshold value, comprehensive control in the X-axis direction, the Y-axis direction and the Z-axis direction is carried out.
4. The unmanned ship autonomous berthing control method based on double water jet propellers of claim 3, wherein the step 5 decomposes the control command into unmanned ship actuator control commands through a power distribution algorithm, and specifically comprises:
(1) The input quantity is X, Y and Z control instructions, and the translation control vector H of the unmanned ship is obtained through calculation according to the X and Y control quantities;
(2) Calculating and synthesizing vector thrust and steering moment of the unmanned ship through the control of the two jet pumps, setting action points 1 and 2 as action force points of a left jet pump and a right jet pump respectively, when the unmanned ship translates right, a left jet pump rudder and a reverse hopper are in a forward position to generate F1 action force, a right jet pump rudder and a reverse hopper position to generate F2 and F3 action forces, synthesizing the three forces into F, and simultaneously, a steering generates anticlockwise rotation moment, the clockwise rotation moment generated by the action forces is tau = F1L 1+ F2L 2-F3L 3, L1 is the moment arm length of F1 in the center of the unmanned ship, L2 is the moment arm length of F2 in the center of the unmanned ship, L3 is the moment arm length of F3 in the center of the unmanned ship, the two rotation moments are offset, the heading direction of the unmanned ship is kept unchanged, and finally vector translation is realized; the magnitude and direction of the turning moment and the translation force F are controlled by changing the magnitude of the steering, the bucket dumping angle and the rotating speed, so that the vector translation in the direction of 360 degrees of the plane is realized;
(3) According to the vector control principle of the double-jet pump, vector control combinations in four directions are calibrated in advance, namely forward movement, backward movement, right translation and left translation, and other directions can be subjected to linear calculation according to the vector combination control in the four directions to obtain corresponding calibration control combinations; the forward movement comprises left and right reverse bucket forward movement, the rudder angle is in the middle position, and the forward movement speed is determined by the forward movement angle; the reversing comprises reversing left and right reversing buckets, the steering angle is in the middle position, and the reversing speed is determined by the reversing angle; the right translation comprises that the left jet pump and the right jet pump drive a left rudder, a left inverted hopper is used for driving the vehicle, and a right inverted hopper is used for backing the vehicle; the left translation comprises that the left spray pump and the right spray pump both drive a right rudder, a left inverted hopper backs a car, and a right inverted hopper forwards the car;
(4) And combining the size and direction of the H vector and the speed and heading information in the XY direction of the unmanned boat to obtain a vector direction error, a heading control error and a speed error, respectively inputting the vector direction error, the heading control error and the speed error into a model-free adaptive control algorithm, namely an MFAC algorithm, to obtain a steering, a turning bucket and a rotating speed control quantity, and accumulating the steering, the turning bucket and the rotating speed control quantity into a control combination corresponding to the vector direction, thereby finally obtaining the control instruction of the unmanned boat actuator.
5. The unmanned ship autonomous berthing control method based on double water jet propellers of claim 1, characterized in that t =5.
6. The unmanned ship self-berthing control method based on double water jet propellers of claim 1, characterized in that l =0.2.
7. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 6 are implemented when the computer program is executed by the processor.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
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