CN115562312B - Strong tracking full-format model-free self-adaptive ship heading control method - Google Patents
Strong tracking full-format model-free self-adaptive ship heading control method Download PDFInfo
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- CN115562312B CN115562312B CN202211442239.5A CN202211442239A CN115562312B CN 115562312 B CN115562312 B CN 115562312B CN 202211442239 A CN202211442239 A CN 202211442239A CN 115562312 B CN115562312 B CN 115562312B
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Abstract
The invention belongs to the technical field of automatic control of ships, and particularly relates to a strong tracking full-format model-free self-adaptive ship heading control method. According to the invention, through introducing the expected output change rate, redesigning the control input criterion function and adding the weight coefficient before the introduced compensation term, the algorithm adjustability is increased, and the strong tracking model-free self-adaptive heading control scheme is obtained. Compared with the traditional control method, the method improves the tracking response speed of the controlled system on the time-varying expected, reduces the control response hysteresis, improves the control precision, and is suitable for the intelligent ship control field of the tracked expected heading real-time variation.
Description
Technical Field
The invention belongs to the technical field of automatic control of ships, and particularly relates to a strong tracking full-format model-free self-adaptive ship heading control method.
Background
In the field of ship control, a specific desired value, such as a desired speed, a desired heading, etc., is usually set to a ship based on a task demand, and a corresponding state of the ship is finally brought to the set desired value by a controller and an actuator. In practice, the expectations to be reached by the system are often time-varying, for example in the task of the unmanned surface vehicle (unmanned surface vehicle, USV) recovering the unmanned underwater vehicle (unmanned underwater vehicle, UUV), the desired heading of the USV being in real time. Although the conventional model-free self-adaptive control method can realize better tracking on a steady expected value quickly, the standard full-format model-free self-adaptive control method cannot realize real tracking on the real time of the controlled system for time-varying expected values, and the tracking precision is low.
The patent document named as 'nonlinear ship time-lapse dynamic positioning ship robust stabilization system based on observer' applies for CN110794843A, and provides an improved method based on an observer aiming at the nonlinear ship dynamic positioning system under the conditions of time-lapse and external interference, and the designed observer provides a relatively accurate speed estimation value for a robust stabilization controller, so that the time-lapse of the control system is reduced, and the stability and the precision of the system are improved. However, the improved method requires more observers and ship dynamics models, and in the practical application process, the ship models are time-varying, so that accurate mathematical models cannot be built.
The patent document with the application patent number of 202010863628.X and the name of improved method of model-free self-adaptive control introduces a proportional control term aiming at the problem of slow response of the original control lawThe response speed of the original control system is improved, and the control precision of the system is improved. The improved method compensates the disadvantage of the original variable integral MFAC by introducing a related adaptive term from the point of view of control output.
Patent document with patent number CN113093532B entitled "full-format model-free adaptive control method for non-self-balance System" provides a full-format model-free adaptive control method for non-self-balance System by introducing adaptive terms into a criterion function for resolving control inputs. The improved method solves the problem that the traditional model-free self-adaptive control method cannot be directly applied to a non-self-balancing system. But a fast and accurate tracking cannot be achieved for the changing desired heading.
Aiming at the problem of low tracking precision, the invention introduces the change rate of the expected output value from the angle of control input, redesigns the control input solving criterion function according to the current control error, adaptively adjusts the input size of the control system, adds the weight coefficient before the introduced compensation term, and increases the algorithm adjustability.
Disclosure of Invention
The invention aims to provide a strong tracking full-format model-free self-adaptive ship heading control method.
A strong tracking full-format model-free self-adaptive ship heading control method is characterized by comprising the following steps:
step 1: setting parameters of a ship control system;
step 2: receiving a task instruction, and acquiring a time-varying expected heading;
step 3: acquiring the pose data of the ship, judging whether the difference value between the ship heading at the current moment and the expected heading meets an error threshold value or not, and executing the step 4 to control the heading if the difference value does not meet the error threshold value;
step 4: introducing an expected output change rate into control input of a ship control system, adding a weight coefficient, and calculating new control input at the current moment; and outputting a heading control value according to the new control input by the ship control system.
Further, the setting of the parameters of the ship control system in the step 1 includes a time stepTError thresholde * Control ofParameters (parameters)Weight factor->Step size factor->Weight coefficient->Initial value of pseudo-gradient of time-varying parameter vectorReset threshold->The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>，/>，/>，/>。
Further, the new control input in the step 4 is:
wherein, the liquid crystal display device comprises a liquid crystal display device,u(k) A control input representing the current moment of the ship control system,u(k1) a control input representing the last time the vessel control system,u(0)=0；y * (k) Indicating the desired heading of the vessel at the present moment,y * (k+1) represents%k+1)TThe desired heading of the ship at the moment,y * (k) And (3) withy * (k+1) is obtained by resolving the time-varying desired heading.
Further, after the ship control system in the step 4 outputs a heading control value according to the new control input, the time-varying parameter vector pseudo-gradient needs to be updated;
wherein, the liquid crystal display device comprises a liquid crystal display device,，/>，/>the method comprises the steps of carrying out a first treatment on the surface of the Calculation ofRepresenting taking the 2-norm.
Further, after the time-varying parameter vector pseudo gradient is updated in the step 4, judging whether to reset the time-varying parameter vector pseudo gradient;
if it meetsOr->Or->Resetting the pseudo-gradient of the time-varying parameter vector to make +.>。
The invention has the beneficial effects that:
the invention redesigns the control input by introducing the desired output change rateEntering a criterion function and adding a weighting coefficient before the introduced compensation termAnd increasing the adjustability of the algorithm to obtain a strong tracking model-free self-adaptive heading control scheme. Compared with the traditional control method, the method improves the tracking response speed of the controlled system on the time-varying expected, reduces the control response hysteresis, improves the control precision, and is suitable for the intelligent ship control field of the tracked expected heading real-time variation.
Drawings
Fig. 1 is a schematic diagram of the present invention.
Fig. 2 is a schematic diagram of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Aiming at the problems that an intelligent ship control system cannot track time-varying expectations in real time and tracking accuracy is low in the existing model-free self-adaptive control method, the invention provides a strong tracking full-format model-free self-adaptive ship heading control method.
Introducing a desired output rate of change of a controlled systemThe following control input solution criterion functions are obtained:
wherein, the liquid crystal display device comprises a liquid crystal display device,u(k) A control input representing the current moment of the ship control system,u(k1) a control input representing the last time the vessel control system,u(0)=0；Tthe time step is represented by a time step,is a weight factor; />For the weight coefficient, useThe adjustability of the algorithm is improved;y * (k) Indicating the desired heading of the vessel at the present moment,y * (k+1) represents%k+1)TThe desired heading of the ship at the moment.
Establishing a dynamic input/output data model of a controlled system:
wherein, the liquid crystal display device comprises a liquid crystal display device,for the system output increment, the time-varying parameter vector pseudo-gradient expression is，/>Vectors formed for the input and output data are arranged in sequence.，/>，/>。
Substituting the dynamic input/output data model of the controlled system into a control input solving criterion function, extremum the control input and obtaining the input information of the control system at the moment:
wherein, the liquid crystal display device comprises a liquid crystal display device,for controlling parameters +.>。
The criterion function of parameter update of the dynamic input/output data model of the controlled system is:
wherein, the liquid crystal display device comprises a liquid crystal display device,for the weight factor, calculate->Representing taking the 2-norm. For->And (3) obtaining an extremum, and obtaining an estimation algorithm of the pseudo gradient of the time-varying parameter vector:
the reset mechanism of the time-varying parameter vector pseudo-gradient is as follows:
if it meetsOr->Or->Resetting the pseudo-gradient of the time-varying parameter vector to make +.>. Reset threshold->Is a sufficiently small positive number。
Based on the theory, the specific embodiments of the invention are as follows:
a strong tracking full-format model-free self-adaptive ship heading control method comprises the following steps:
step 1: setting a time step of a marine vessel control systemTError thresholde * Parameters of controlWeighting factorStep size factor->Gain factor->Wherein->，/>，/>，/>The method comprises the steps of carrying out a first treatment on the surface of the Setting a time-varying parameter vector pseudo-gradient initial value +.>Reset threshold->The method comprises the steps of carrying out a first treatment on the surface of the Initializing the number of samples of a marine control systemk=1；
Step 2: receiving a task instruction, and acquiring a time-varying expected headingy * (k)、y * (k+1); wherein, the liquid crystal display device comprises a liquid crystal display device,y * (k) Indicating the desired heading of the vessel at the present moment,y * (k+1) represents%k+1) TThe expected heading of the ship at the moment;
step 3: acquiring the pose data of the ship, and calculating the heading of the ship at the current momenty(k) And the expected headingy * (k) Difference betweene(k) The method comprises the steps of carrying out a first treatment on the surface of the If it isOrder in principlek=k+1, returning to the step 2, and performing next heading control; otherwise, executing the step 4;
step 4: calculating control inputs for a marine vessel control systemu(k)；
Wherein, the liquid crystal display device comprises a liquid crystal display device,u(k1) a control input representing the last time the vessel control system,u(0)=0；
step 5: will beu(k) Input ship control system, ship control system outputs heading control valuey(k+1)；
Step 6: updating a time-varying parameter vector pseudo-gradient;
wherein, the liquid crystal display device comprises a liquid crystal display device,，/>，/>the method comprises the steps of carrying out a first treatment on the surface of the Calculation ofRepresenting taking a 2-norm;
step 7: judging whether to reset the time-varying parameter vector pseudo-gradient;
if it meetsOr->Or->Resetting the pseudo-gradient of the time-varying parameter vector to make +.>；
Step 8: judging whether the task is completed or not; if the task is not completed, makek=k+1, returning to step 2; if the task is completed, the process is ended.
The invention is based on a full format dynamic linearized input/output (FFDL) data model, and does not involve a mathematical model of the controlled system. The invention redesigns the control input criterion function by introducing the desired output change rate, and adds the weighting coefficient before the introduced compensation termAnd adding algorithm adjustability to obtain the strong tracking model-free self-adaptive heading control scheme. Compared with the traditional control method, the control scheme improves the tracking response speed of the controlled system on the time-varying expected, reduces the control response hysteresis and improves the control precision. May be, but is not limited to, suitable for use in the field of intelligent ship control where the desired heading to be tracked changes in real time.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A strong tracking full-format model-free self-adaptive ship heading control method is characterized by comprising the following steps:
step 1: setting parameters of a ship control system;
step 2: receiving a task instruction, and acquiring an expected heading at the current moment;
step 3: acquiring the pose data of the ship, judging whether the difference value between the ship heading at the current moment and the expected heading meets an error threshold value, and if not, executing the step 4 to control the heading;
step 4: introducing an expected output change rate into control input of a ship control system, adding a weight coefficient, and calculating new control input at the current moment; and outputting a heading control value according to the new control input by the ship control system.
2. The strong tracking full-format model-free adaptive ship heading control method according to claim 1, characterized by comprising the following steps: the step 1 of setting the parameters of the ship control system comprises a time step T and an error threshold e * Control parameter [ ρ ] 1 ，ρ 2 ]Weighting factor [ lambda, mu ]]Step factor eta, weight coefficient xi and time-varying parameter vector pseudo-gradient initial valueResetting a threshold epsilon; wherein ρ is 1 、ρ 2 ∈(0，1]，λ、μ＞0，η∈(0，2]，ξ＞0。
3. The strong tracking full-format model-free adaptive ship heading control method according to claim 2, characterized by comprising the following steps: the new control inputs in the step 4 are:
wherein u (k)) A control input representing the current moment of the ship control system, u (k-1) represents the control input of the previous ship control system, u (0) =0; y is * (k) Representing the expected heading, y of the ship at the current moment * (k+1) represents the desired heading, y of the ship at time (k+1) * (k) And y is * (k+1) is obtained by resolving the time-varying desired heading.
4. The strong tracking full-format model-free adaptive ship heading control method according to claim 2, characterized by comprising the following steps: the ship control system in the step 4 also needs to update the time-varying parameter vector pseudo-gradient after outputting a heading control value according to the new control input;
wherein Δh (k) = [ Δy (k), Δu (k)] T Δy (k) =y (k) -y (k-1), Δu (k) =u (k) -u (k-1); arithmetic | I 2 Representing taking the 2-norm.
5. The strong tracking full-format model-free adaptive ship heading control method according to claim 4, characterized by comprising the following steps: after the time-varying parameter vector pseudo gradient is updated in the step 4, judging whether to reset the time-varying parameter vector pseudo gradient;
if it meetsOr delta H (k) || 2 Epsilon or ++>Resetting the time-varying parameter vector pseudo-gradient to let +.>
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