CN115755927A - Unmanned ship control method and system - Google Patents
Unmanned ship control method and system Download PDFInfo
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Abstract
The invention provides a control method and a control system of an unmanned ship, wherein the unmanned ship comprises an internal combustion engine propelling hull and a pure electric propelling hull which are hinged together by an electromagnetic hinge device, and the method comprises the following steps: determining a target navigational speed of the unmanned ship in the current navigation section based on a preset navigation plan; controlling an internal combustion engine of an internal combustion engine propelling a boat body to operate at a preset rotating speed corresponding to a target speed, and determining the yaw rate, the actual position and the actual course of the unmanned boat; determining to obtain a propeller rotating speed adjusting value according to the navigation plan, the actual position, the actual course and the yaw rate; the rotating speed of the propeller of the pure electric propulsion hull is adjusted based on the propeller rotating speed adjusting value so as to control the course of the unmanned ship, and therefore the navigation capacity of the unmanned ship is enhanced to ensure that the relevant data of typhoon is collected.
Description
Technical Field
The invention relates to the technical field of control, in particular to a control method and a control system for an unmanned ship.
Background
In order to collect the relevant data of typhoon, an unmanned boat is usually required to go to the observation sea area of typhoon for data collection. However, since the observation sea area of typhoon is often a high sea state sea area and the environment is severe, the unmanned ship is easily overturned by sea waves, which may cause a loss of navigation capability. In order to ensure that the unmanned ship can smoothly acquire the relevant data of typhoon, a control method of the unmanned ship is urgently needed at present.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and a system for controlling an unmanned surface vehicle, so as to ensure that the unmanned surface vehicle can smoothly acquire data related to typhoon.
In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions:
the first aspect of the embodiments of the present invention discloses a control method for an unmanned ship, the method is applicable to an unmanned ship, the unmanned ship comprises an internal combustion engine propulsion hull and a pure electric propulsion hull hinged together by an electromagnetic hinge device, and the method comprises:
determining a target navigational speed of the unmanned ship in a current navigation section based on a preset navigation plan;
controlling an internal combustion engine of the internal combustion engine propelling the hull to operate at a preset rotating speed corresponding to the target speed, and determining the yaw rate, the actual position and the actual course of the unmanned ship;
determining to obtain a propeller rotation speed adjusting value according to the navigation plan, the actual position, the actual course and the yaw rate;
and adjusting the rotating speed of the propeller of the pure electric propulsion hull based on the propeller rotating speed adjusting value so as to control the course of the unmanned ship.
Preferably, the navigation plan at least comprises a plurality of target waypoints;
determining to obtain a propeller rotation speed adjustment value according to the navigation plan, the actual position, the actual course and the yaw rate, wherein the propeller rotation speed adjustment value comprises the following steps:
determining the course of a waypoint according to the current target waypoint traveled by the unmanned ship, and determining an expected track and an expected track position according to the current target waypoint and the last target waypoint passed by the unmanned ship;
determining a yaw distance based on the current target waypoint, the expected track location, and the actual location;
determining an adjustment course based on the yaw distance, the waypoint course and the actual course;
and calculating to obtain a propeller rotating speed adjusting value according to the adjusting course and the yaw rate.
Preferably, the method further comprises:
calculating sea surface true wind vectors and the hull posture of the unmanned ship;
judging to obtain sea condition data according to the sea surface true wind vector, the ship body posture and a fuzzy controller configured with a fuzzy rule base;
when the sea state data meets a preset disengagement threshold and/or when the unmanned boat reaches a preset disengagement position, controlling the electromagnetic hinging device to disengage to separate the internal combustion engine propulsion hull and the pure electric propulsion hull;
and controlling the separated internal combustion engine to propel the hull to return to the sea, and controlling the separated pure electric propulsion hull to continue to sail according to a preset sailing plan.
Preferably, calculating the sea surface true wind vector and the hull attitude of the unmanned ship includes:
measuring the sea surface wind speed and the sea surface wind direction by using the boat-mounted ultrasonic wind measuring device of the unmanned boat;
calculating to obtain a sea surface true wind vector by combining the sea surface wind speed, the sea surface wind direction, the unmanned ship speed and the unmanned ship heading;
and performing strapdown calculation based on the heading of the inertial measurement unit of the unmanned ship and the GNSS combined compass to calculate the ship body attitude of the unmanned ship.
Preferably, after the separated pure electric propulsion hull is controlled to continue sailing according to a preset sailing plan, the method further includes:
and after the separated pure electric propulsion boat body sails to a typhoon center area, measuring sea-air interface parameters and transmitting the sea-air interface parameters back to a data center.
In a second aspect of the embodiments of the present invention, a control system for an unmanned surface vehicle is disclosed, the system being suitable for an unmanned surface vehicle, the unmanned surface vehicle including an internal combustion engine propulsion hull and a pure electric propulsion hull hinged together by an electromagnetic hinge device, the system including:
the first determining unit is used for determining the target navigational speed of the unmanned ship in the current navigation section based on a preset navigation plan;
the processing unit is used for controlling the internal combustion engine of the internal combustion engine propelling the hull to operate at a preset rotating speed corresponding to the target navigational speed and determining the yaw rate, the actual position and the actual course of the unmanned ship;
the second determining unit is used for determining and obtaining a propeller rotating speed adjusting value according to the navigation plan, the actual position, the actual course and the yaw rate;
and the first control unit is used for adjusting the rotating speed of the propeller of the pure electric propulsion hull based on the propeller rotating speed adjusting value so as to control the course of the unmanned ship.
Preferably, the navigation plan at least comprises a plurality of target waypoints; the second determination unit includes:
the first determining module is used for determining the course of an waypoint according to a current target waypoint which the unmanned ship goes to, and determining an expected track and an expected track position according to the current target waypoint and a last target waypoint which the unmanned ship passes by;
a second determination module to determine a yaw distance based on the current target waypoint, the expected track location, and the actual location;
the third determining module is used for determining an adjusting course based on the yaw distance, the waypoint course and the actual course;
and the calculation module is used for calculating to obtain a propeller rotating speed adjustment value through the adjustment course and the yaw rate.
Preferably, the system further comprises:
the computing unit is used for computing sea surface true wind vectors and the hull posture of the unmanned ship;
the judging unit is used for judging to obtain sea condition data according to the sea surface true wind vector, the ship body posture and a fuzzy controller configured with a fuzzy rule base;
a disengaging unit for controlling the electromagnetic articulation device to disengage to separate the internal combustion engine propulsion hull and the purely electric propulsion hull when the sea condition data meets a preset disengaging threshold and/or when the unmanned boat reaches a preset disengaging position;
and the second control unit is used for controlling the separated internal combustion engine propulsion boat body to return to the sea and controlling the separated pure electric propulsion boat body to continue to sail according to a preset sailing plan.
Preferably, the computing unit is specifically configured to: measuring the sea surface wind speed and the sea surface wind direction by using the boat-mounted ultrasonic wind measuring device of the unmanned boat; calculating to obtain a sea surface true wind vector by combining the sea surface wind speed, the sea surface wind direction, the unmanned ship speed and the unmanned ship heading; and performing strapdown calculation based on the heading of the inertial measurement unit of the unmanned ship and the GNSS combined compass to calculate and obtain the ship body attitude of the unmanned ship.
Preferably, the system further comprises:
and the acquisition unit is used for measuring sea-air interface parameters after the separated pure electric propulsion boat body sails to a typhoon center area, and transmitting the sea-air interface parameters back to the data center.
Based on the control method and the system of the unmanned ship provided by the embodiment of the invention, the unmanned ship comprises the internal combustion engine propulsion hull and the pure electric propulsion hull which are hinged together by the electromagnetic hinge device, and the method comprises the following steps: determining a target navigational speed of the unmanned ship in the current navigation section based on a preset navigation plan; controlling an internal combustion engine of an internal combustion engine propelling a boat body to operate at a preset rotating speed corresponding to a target speed, and determining the yaw rate, the actual position and the actual course of the unmanned boat; determining to obtain a propeller rotating speed adjusting value according to the navigation plan, the actual position, the actual course and the yaw rate; and adjusting the rotating speed of the propeller of the pure electric propulsion hull based on the propeller rotating speed adjusting value so as to control the course of the unmanned ship. In the scheme, the target navigational speed of the unmanned ship in the current navigation section is determined. The internal combustion engine for controlling the internal combustion engine to propel the boat body runs at a preset rotating speed corresponding to the target sailing speed, so that power is provided for the unmanned boat, the course of the unmanned boat is controlled by adjusting the rotating speed of a propeller of the pure electric propulsion boat body, and the sailing capacity of the unmanned boat is enhanced to ensure that relevant data of typhoon are collected.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is an external view schematically illustrating an unmanned surface vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an unmanned surface vehicle according to an embodiment of the present invention;
fig. 3 is a flowchart of a method for controlling an unmanned surface vehicle according to an embodiment of the present invention;
FIG. 4 is a triple closed-loop PID control loop provided by an embodiment of the invention;
fig. 5 is a block diagram of a control system of an unmanned surface vehicle 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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In this application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
As known from the background art, since the observation sea area of typhoon is often a high sea state sea area and the environment is severe, the unmanned ship for collecting the data related to typhoon is easily overturned by the sea waves, which may cause the loss of navigation ability. In order to ensure that the unmanned ship can smoothly acquire the relevant data of typhoon, a control method of the unmanned ship is urgently needed at present.
Therefore, the embodiment of the invention provides a control method and a control system for an unmanned ship, wherein the unmanned ship comprises an internal combustion engine propulsion hull and a pure electric propulsion hull which are hinged together by an electromagnetic hinging device, and the target speed of the unmanned ship in the current flight segment is determined. The internal combustion engine for controlling the internal combustion engine to propel the hull runs at a preset rotating speed corresponding to the target sailing speed, so that power is provided for the unmanned ship, the course of the unmanned ship is controlled by adjusting the rotating speed of the propeller of the pure electric propulsion hull, and the sailing capacity of the unmanned ship is enhanced to ensure that relevant data of typhoon is collected.
It should be noted that the control method and system for the unmanned ship provided by the embodiment of the invention can be applied to the unmanned ship; fig. 1 provides an external view of an unmanned boat, which is composed of an internal combustion engine propulsion hull 100 and a pure electric propulsion hull 200.
The internal combustion engine propulsion hull 100 and the pure electric propulsion hull 200 are hinged together by an electromagnetic hinge device; the internal combustion engine propulsion hull 100 is a hull driven by an internal combustion engine, and the pure electric propulsion hull 200 is a hull driven by a motor; pure electric propulsion hull 200 is full watertight structure, and the focus is less than floating core.
It is understood that the internal combustion engine propulsion hull 100 and the pure electric propulsion hull 200 are constituted by respective components; fig. 2 provides a schematic structural diagram of an unmanned boat, which is composed of an internal combustion engine propulsion hull 100 and a pure electric propulsion hull 200. Wherein, internal-combustion engine propulsion hull 100 contains at least: the system comprises an oil tank 3, an oil pump 4, an internal combustion engine 5, a shaft generator 6, a starting motor 7, a propeller 8 (pump jet propeller), an automatic pilot 9 and a communication module 10. Pure electric propulsion hull 200 includes at least: lithium battery pack 12, driving motor 13, propeller 14 (pump jet propeller), autopilot 15 and communication module 16. Internal combustion engine propulsion hull 100 and pure electric propulsion hull 200 are directly hinged together by electromagnetic hinging device 11.
The above contents are related to the unmanned ship of the scheme; the control method of the unmanned surface vehicle will be described in detail in the following examples.
Referring to fig. 3, a flowchart of a control method of an unmanned ship according to an embodiment of the present invention is shown, where the method is applied to an unmanned ship that includes an internal combustion engine propelling hull and a pure electric propelling hull hinged together by an electromagnetic hinge device, and the control method includes:
step S301: and determining the target navigational speed of the unmanned ship in the current navigation section based on the preset navigation plan.
The method includes the steps that position coordinates of a typhoon central area are obtained through a satellite remote sensing image in advance, and a navigation plan is determined based on the position coordinates of the typhoon central area; and storing the sailing plan in the memory (such as internal Flash) of the unmanned boat.
The speeds of the unmanned ship in different voyages may be different; in the process of implementing step S301 specifically, position information (including an actual position of the unmanned ship) of the unmanned ship is acquired through a Global Navigation Satellite System (GNSS); and determining the target navigational speed of the unmanned ship in the current navigation section according to the navigation plan and the actual position of the unmanned ship.
Step S302: and controlling the internal combustion engine of the internal combustion engine propelling the boat body to operate at a preset rotating speed corresponding to the target speed, and determining the yaw rate, the actual position and the actual course of the unmanned boat.
It should be noted that, in the process of sailing of the unmanned boat (the internal combustion engine propulsion boat body and the pure electric propulsion boat body are hinged together, which is equivalent to combined propulsion), the unmanned boat adopts differential propulsion of bilateral propellers (the pump jet propeller of the internal combustion engine propulsion boat body and the pure electric propulsion boat body); wherein most of the voyage of the unmanned boat is provided with voyage power by propelling the boat body by the internal combustion engine.
Since the internal combustion engine inherently does not have any speed regulation due to the characteristics of the internal combustion engine, the internal combustion engine that controls the internal combustion engine to propel the hull is operated at a preset rotation speed corresponding to the target cruising speed (which is equivalent to the internal combustion engine being operated at a fixed rotation speed) in the course of embodying step S302.
In some embodiments, the target speed may be divided into a high speed, a medium speed, and a low speed (this division is for example only); and presetting corresponding preset rotating speeds for different target navigational speeds. For example: the target navigational speed is a high navigational speed, and the internal combustion engine of the internal combustion engine propelling the hull of the unmanned boat is controlled to operate at a preset rotational speed corresponding to the high navigational speed in the process of navigating.
And determining the yaw rate, the actual position and the actual course of the unmanned boat in the process of controlling the internal combustion engine of the internal combustion engine propelling the boat body to operate at the preset rotating speed corresponding to the target speed. Specifically, the yaw rate of the horizontal course of the unmanned ship is measured through an Inertial Measurement Unit (IMU) of the unmanned ship; determining the actual course of the unmanned ship through the combined compass of the unmanned ship; the actual position of the unmanned ship is measured through GNSS.
In some embodiments, the IMU may also measure the forward acceleration of the drone and reverse the thrust vector of the drone.
Step S303: and determining to obtain a propeller rotating speed adjusting value according to the navigation plan, the actual position, the actual course and the yaw rate.
It should be noted that the navigation plan at least includes a plurality of target waypoints; the target waypoint refers to a navigation target point preset by an autopilot of the unmanned boat; during navigation, the unmanned ship navigates to a target waypoint and continues to navigate to the next target waypoint after reaching the target waypoint.
The current target waypoint refers to a target waypoint which the unmanned ship is currently moving to, and the previous target waypoint refers to a target waypoint which the unmanned ship has recently passed.
In the process of the concrete implementation step S303, determining the course of the waypoint according to the current target waypoint heading towards the unmanned ship; specifically, a connecting line of the longitude and latitude coordinates of the current target waypoint and the longitude and latitude coordinates of the current actual position of the unmanned ship is calculated, and the heading of the waypoint can be determined. It will be appreciated that since the current actual position of the unmanned vehicle may change as the unmanned vehicle navigates, real-time determination of waypoint heading of the unmanned vehicle is required to ensure that the unmanned vehicle navigates toward the target waypoint.
Determining an expected track and an expected track position according to the current target route point and the last target route point passed by the unmanned ship; a yaw distance is determined based on the current target waypoint, the expected track location, and the actual location.
It should be noted that the expected track is a connecting line between the target waypoints, and therefore the expected track and the expected track position can be determined and obtained according to the current target waypoint and the previous target waypoint. By combining the current target waypoint, the expected track position and the actual position (the position of GNSS), the yaw distance can be calculated, and the yaw distance is the distance deviating from the expected track.
Determining an adjustment course based on the yaw distance, the waypoint course and the actual course; and calculating to obtain a propeller rotating speed adjusting value (equivalent to a thrust adjusting control quantity) by adjusting the course and the yaw rate.
The above is the relevant explanation about the calculation of the adjustment value of the rotating speed of the propeller; in a particular implementation, a triple closed-loop PID control loop may be utilized to determine the propeller speed adjustment. The triple closed loop PID control loop as provided in fig. 4 includes a steering angle rate control loop (innermost PID control loop), a yaw control loop (middle PID control loop), and a track control loop (outermost PID control loop).
Specifically, the input quantities of the track control loop are the current target waypoint, the expected track position and the actual position (obtained from GNSS), and the yaw distance is determined by the track controller. The input quantity of the yaw control loop is yaw distance, waypoint course and actual course (obtained by the combined compass), and the course controller determines to obtain the adjusted course. The input quantity of the steering angular rate control loop is the adjusted course and the yaw rate (obtained by IMU), and the yaw rate controller determines the adjusted value of the propeller rotating speed.
It should be noted that in the triple closed-loop PID control loop as provided in fig. 4, disturbance torque and velocity vectors are also introduced; an ESC (electronic speedcontrol) is an electronic governor, and the ESC is used to control the rotation speed of the propeller.
Step S304: and adjusting the rotating speed of the propeller of the pure electric propulsion hull based on the propeller rotating speed adjusting value so as to control the course of the unmanned ship.
In the specific execution process of step S304, after the propeller rotation speed adjustment value is obtained through calculation, the ESC is controlled to adjust the rotation speed of the propeller of the pure electric propulsion hull (which is equivalent to adjusting the thrust of the driving motor) based on the propeller rotation speed adjustment value, so as to control the heading of the unmanned boat.
It should be noted that, as can be seen from step S302, the internal combustion engine of the internal combustion engine propelling hull operates at a preset rotation speed corresponding to the target speed (which is equivalent to the fixed rotation speed of the propeller of the internal combustion engine propelling hull), so that the differential speed between the propeller of the internal combustion engine propelling hull and the propeller of the pure electric propulsion hull can be adjusted by adjusting the rotation speed of the propeller of the pure electric propulsion hull, thereby realizing course control; that is, the unmanned ship is controlled to sail leftward or rightward by adjusting a differential speed between a propeller of the internal combustion engine propelling hull and a propeller of the pure electric propelling hull.
In combination with the content of step S303, it can be seen that the rotation speed of the propeller of the pure electric propulsion hull can be specifically adjusted by using the triple closed-loop PID control loop.
In the embodiment of the invention, the target speed of the unmanned ship in the current flight segment is determined. The internal combustion engine for controlling the internal combustion engine to propel the hull runs at a preset rotating speed corresponding to the target sailing speed, so that power is provided for the unmanned ship, the course of the unmanned ship is controlled by adjusting the rotating speed of the propeller of the pure electric propulsion hull, and the sailing capacity of the unmanned ship is enhanced to ensure that relevant data of typhoon is collected.
It should be noted that, during the sailing process of the unmanned ship, the sea condition data needs to be monitored in real time, and corresponding control is performed according to the sea condition data.
In some embodiments, sea surface true wind vectors and hull attitude of the unmanned vehicle are calculated. Specifically, the sea surface wind speed and the sea surface wind direction are measured by using an unmanned ship-mounted ultrasonic wind measuring device; calculating to obtain a sea surface true wind vector by combining the sea surface wind speed, the sea surface wind direction, the unmanned ship speed and the unmanned ship course; strapdown resolving is carried out on the basis of the heading of the inertial measurement unit and the GNSS combined compass of the unmanned ship so as to calculate and obtain the ship body attitude of the unmanned ship.
It should be noted that the sea surface wind speed and the sea surface wind direction are obtained by GNSS measurement; the attitude of the hull includes, but is not limited to, pitch, roll, pitch, and heave, etc.
And after the true wind vector and the hull attitude are obtained through calculation, judging to obtain sea condition data according to the sea surface true wind vector, the hull attitude and a fuzzy controller configured with a fuzzy rule base.
When the sea condition data meets a preset disengagement threshold (indicating that the unmanned vehicle enters the high sea condition area), and/or when the unmanned vehicle reaches a preset disengagement position, the electromagnetic articulation device is controlled to disengage to separate the internal combustion engine propulsion hull from the pure electric propulsion hull. And controlling the separated internal combustion engine to propel the boat body to return to the sailing direction and controlling the separated pure electric propulsion boat body to continue sailing according to a preset sailing plan.
That is, if it is determined that the obtained sea condition data satisfies the preset disengagement threshold, and/or if the unmanned boat reaches the preset disengagement position, the internal combustion engine propulsion hull and the pure electric propulsion hull are separated. After separation, the separated internal combustion engine propulsion hull is controlled to return to a preset sea area according to a preset return route, and the separated pure electric propulsion hull is controlled to continue to sail to a typhoon center area according to a course plan.
The internal combustion engine propulsion hull and the pure electric propulsion hull both have respective corresponding rudders, and after the internal combustion engine propulsion hull and the pure electric propulsion hull are separated, the course is controlled by controlling the rudder angle of the separated internal combustion engine propulsion hull and the course is controlled by controlling the rudder angle of the separated pure electric propulsion hull.
After the separated pure electric propulsion hull sails to a typhoon center area, controlling the pure electric propulsion hull to measure sea-air interface parameters and transmitting the sea-air interface parameters back to the data center; specifically, the measured marine gas parameters can be transmitted back to the data center through the Beidou RDSS satellite communication device.
As can be seen from the above, the fuzzy controller can be used to determine the sea state data, and how to use the fuzzy controller will be explained below.
The fuzzy controller adopts a double-input single-output structure, the input linguistic variables are a shaking linguistic variable SC and a shaking linguistic variable HC, and the output linguistic variable is an electromagnetic coupling device trigger linguistic variable T; the fundamental domains (i.e., actual ranges of variation) of shaking sr and shaking hr are [ sr min ,sr max ]And [ hr min ,hr max ]。
And (3) normalizing the input fuzzy domain into [ -1,1], and specifically calculating a formula as the formula (1).
In the formula (1), k sr 、k hr And k wc For inputting the quantization factor of the variable, sr is in a shaking state, hr is in a shaking state, wc is in a Typha wind level, sr 1 Normalized to discourse domain, the rocking state, hr 1 For oscillating state normalized to the discourse domain, wc 1 Normalized for the domain of discourse, the futon wind class.
It should be noted that sr can be determined by formula (2), and hr can be determined by formula (3).
In formula (2), Y is yaw, P is pitch, R is roll, HE is heave, SU is surge, and SW is roll; let MO = | hr + sr |.
In using the fuzzy controller, the input variables use fuzzy subsets { Z, S, M, B } that represent zero, small, medium, and large, respectively. In practical application, considering the requirements of calculation amount and algorithm simplicity, when a fuzzy controller is utilized, a symmetrical, uniformly distributed and weight-overlapped triangular membership function can be selected. The fuzzy controller may take the form of a control statement: "If (MOis \8230;) and (WC is \8230;) the (Tis \8230;").
Setting a fuzzy rule base according to the practical control experience of the working characteristics of the unmanned ship; for example: the fuzzy rule base comprises a fuzzy control rule table shown in the following table 1; table 1 is for illustration only.
Table 1:
the fuzzy controller adopts a Mamdani maximum-minimum inference rule, and the specific content of the Mamdani maximum-minimum inference rule is as formula (4).
In the formula (4), the first and second groups of the chemical reaction are shown in the formula,
for the excitation strength of the j-th rule,
for the degree of membership of the wobble linguistic variable SC belonging to the corresponding fuzzy subset a,
for the membership of the oscillating linguistic variable HC belonging to the corresponding fuzzy subset b,
the linguistic variable T is triggered for the electromagnetic coupling device to belong to the degree of membership of the corresponding fuzzy subset.
The above is a related description of the fuzzy controller; in order to better understand the contents of the above-described present solution, the following processes A1 to A8 are exemplified.
A1, determining the position coordinates of a typhoon central area through a satellite remote sensing image.
A2, editing a flight path according to the position coordinates of the typhoon center area, and generating a navigation plan according to the edited flight path; the voyage plan is downloaded to the autopilot of the unmanned boat.
And A3, releasing the unmanned ship to the sea at a designated place (such as land or the shore of the island).
A4, the internal combustion engine which is used for propelling the hull by the internal combustion engine provides all power for the unmanned ship, and the course is controlled by controlling the rotating speed of the propeller of the pure electric propulsion hull, so that the unmanned ship (the internal combustion engine propulsion hull and the pure electric propulsion hull are hinged together) in a combined state can drive to a typhoon center area at a high speed.
And A5, calculating the attitude and the true wind vector of the ship body in real time in the sailing process of the unmanned ship in the combined state.
A6, determining sea condition data by combining a fuzzy controller based on the attitude of the ship body and the true wind vector; when the unmanned boat enters a high sea state area (the sea state data meet a disengagement threshold), the electromagnetic hinging device is controlled to disengage to separate the internal combustion engine propulsion hull from the pure electric propulsion hull.
And A7, the separated pure electric propulsion hull continues to sail to a typhoon center area according to a course plan, sea-air interface parameters are measured in real time, and the sea-air interface parameters obtained through measurement are transmitted back to a data center through a Beidou RDSS satellite navigation system.
And A8, propelling the boat body to return to a preset sea area by the separated internal combustion engine.
According to the above contents, after the scheme is applied, most of voyages of the unmanned boat are propelled by the internal combustion engine to provide the sailing power during the sailing process of the unmanned boat, and the sea condition data is determined in real time during the sailing process. When the sea condition data meet a disengagement threshold or when the unmanned vehicle reaches a preset disengagement position, separating the internal combustion engine propulsion vehicle body from the pure electric propulsion vehicle body. The internal-combustion engine impels hull to return to navigate in order to protect the internal-combustion engine to impel hull can not flame out of control, because pure electric propulsion hull has good water proofness, impels hull by the pure electric after the separation and continues to go to the regional relevant data of typhoon collection typhoon of typhoon center.
Corresponding to the control method of the unmanned ship provided by the embodiment of the invention, referring to fig. 5, the embodiment of the invention further provides a structural block diagram of a control system of the unmanned ship, wherein the control system is suitable for the unmanned ship, and the unmanned ship comprises an internal combustion engine propulsion hull and a pure electric propulsion hull which are hinged together by an electromagnetic hinging device; the control system includes: a first determination unit 501, a processing unit 502, a second determination unit 503, and a first control unit 504;
the first determining unit 501 is configured to determine a target speed of the unmanned ship in the current flight segment based on a preset navigation plan.
The processing unit 502 is used for controlling the internal combustion engine of the internal combustion engine propelling the hull to operate at a preset rotating speed corresponding to the target navigation speed, and determining the yaw rate, the actual position and the actual heading of the unmanned ship.
And a second determining unit 503, configured to determine to obtain a propeller rotation speed adjustment value according to the navigation plan, the actual position, the actual heading, and the yaw rate.
And the first control unit 504 is used for adjusting the rotating speed of the propeller of the pure electric propulsion boat body based on the propeller rotating speed adjusting value so as to control the course of the unmanned boat.
In the embodiment of the invention, the target speed of the unmanned ship in the current flight segment is determined. The internal combustion engine for controlling the internal combustion engine to propel the hull runs at a preset rotating speed corresponding to the target sailing speed, so that power is provided for the unmanned ship, the course of the unmanned ship is controlled by adjusting the rotating speed of the propeller of the pure electric propulsion hull, and the sailing capacity of the unmanned ship is enhanced to ensure that relevant data of typhoon is collected.
Preferably, in connection with the illustration of FIG. 5, the voyage plan includes at least a plurality of target waypoints; the second determination unit 503 includes a first determination module, a second determination module, a third determination module, and a calculation module; the execution principle of each module is as follows:
the first determining module is used for determining the course of the waypoint according to the current target waypoint traveled by the unmanned ship and determining the expected track and the expected track position according to the current target waypoint and the last target waypoint passed by the unmanned ship.
And the second determining module is used for determining the yaw distance based on the current target route point, the expected track position and the actual position.
And the third determining module is used for determining the adjusted course based on the yaw distance, the course of the waypoint and the actual course.
And the calculation module is used for calculating to obtain a propeller rotating speed adjustment value by adjusting the course and the yaw rate.
Preferably, in conjunction with the content shown in fig. 5, the control system further includes:
and the computing unit is used for computing the sea surface true wind vector and the hull posture of the unmanned ship.
In a specific implementation, the computing unit is specifically configured to: measuring the sea surface wind speed and the sea surface wind direction by using a boat-mounted ultrasonic wind measuring device of the unmanned boat; calculating to obtain a sea surface true wind vector by combining the sea surface wind speed, the sea surface wind direction, the unmanned ship speed and the unmanned ship course; strapdown resolving is carried out on the basis of the heading of the inertial measurement unit and the GNSS combined compass of the unmanned ship so as to calculate and obtain the ship body attitude of the unmanned ship.
And the judging unit is used for judging to obtain sea condition data according to the sea surface true wind vector, the ship body posture and the fuzzy controller configured with the fuzzy rule base.
A disengagement unit for controlling the electromagnetic articulation device to disengage to separate the internal combustion engine propulsion hull and the pure electric propulsion hull when the sea condition data satisfies a preset disengagement threshold, and/or when the unmanned vehicle reaches a preset disengagement position.
And the second control unit is used for controlling the separated internal combustion engine to propel the hull to return to the sea and controlling the separated pure electric propulsion hull to continue to sail according to a preset sailing plan.
Preferably, in combination with the above, the control system further includes:
and the acquisition unit is used for measuring sea-air interface parameters after the separated pure electric propulsion boat body sails to a typhoon center area, and transmitting the sea-air interface parameters back to the data center.
In summary, embodiments of the present invention provide a control method and system for an unmanned surface vehicle, where the unmanned surface vehicle includes an internal combustion engine propulsion hull and a pure electric propulsion hull hinged together by an electromagnetic hinge device; and determining the target navigational speed of the unmanned ship in the current flight segment. The internal combustion engine for controlling the internal combustion engine to propel the hull runs at a preset rotating speed corresponding to the target sailing speed, so that power is provided for the unmanned ship, the course of the unmanned ship is controlled by adjusting the rotating speed of the propeller of the pure electric propulsion hull, and the sailing capacity of the unmanned ship is enhanced to ensure that relevant data of typhoon is collected.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments, which are substantially similar to the method embodiments, are described in a relatively simple manner, and reference may be made to some descriptions of the method embodiments for relevant points. The above-described system and system embodiments are only illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement without inventive effort.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the components and steps of the various examples have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method of controlling an unmanned vehicle, the method being adapted for use with an unmanned vehicle comprising an internal combustion engine propelling hull and a purely electric propelling hull articulated together by electromagnetic articulation means, the method comprising:
determining a target navigational speed of the unmanned ship in a current navigation section based on a preset navigation plan;
controlling an internal combustion engine of the internal combustion engine propelling a boat body to operate at a preset rotating speed corresponding to the target speed, and determining the yaw rate, the actual position and the actual course of the unmanned boat;
determining to obtain a propeller rotation speed adjusting value according to the navigation plan, the actual position, the actual course and the yaw rate;
and adjusting the rotating speed of the propeller of the pure electric propulsion boat body based on the propeller rotating speed adjusting value so as to control the course of the unmanned boat.
2. The method of claim 1, wherein the voyage plan includes at least a plurality of target waypoints;
determining to obtain a propeller rotation speed adjustment value according to the navigation plan, the actual position, the actual course and the yaw rate, wherein the propeller rotation speed adjustment value comprises the following steps:
determining the course of a waypoint according to the current target waypoint traveled by the unmanned ship, and determining an expected track and an expected track position according to the current target waypoint and the last target waypoint passed by the unmanned ship;
determining a yaw distance based on the current target waypoint, the expected track location, and the actual location;
determining an adjustment course based on the yaw distance, the waypoint course and the actual course;
and calculating to obtain a propeller rotating speed adjusting value according to the adjusting course and the yaw rate.
3. The method according to claim 1 or 2, characterized in that the method further comprises:
calculating sea surface true wind vectors and the hull posture of the unmanned ship;
judging to obtain sea condition data according to the sea surface true wind vector, the ship body posture and a fuzzy controller configured with a fuzzy rule base;
controlling the electromagnetic articulation device to disengage to separate the internal combustion engine propulsion hull and the purely electric propulsion hull when the sea condition data meets a preset disengagement threshold, and/or when the unmanned boat reaches a preset disengagement position;
and controlling the separated internal combustion engine to propel the hull to return to the sea, and controlling the separated pure electric propulsion hull to continue to sail according to a preset sailing plan.
4. The method of claim 3, wherein calculating a sea surface true wind vector and a hull attitude of the unmanned vehicle comprises:
measuring the sea surface wind speed and the sea surface wind direction by using the boat-mounted ultrasonic wind measuring device of the unmanned boat;
calculating to obtain a sea surface true wind vector by combining the sea surface wind speed, the sea surface wind direction, the unmanned ship speed and the unmanned ship heading;
and performing strapdown calculation based on the heading of the inertial measurement unit of the unmanned ship and the GNSS combined compass to calculate and obtain the ship body attitude of the unmanned ship.
5. The method according to claim 3, wherein after controlling the separated pure electric propulsion hull to continue sailing according to a preset sailing plan, the method further comprises:
and after the separated pure electric propulsion hull sails to a typhoon center area, measuring sea-air interface parameters and transmitting the sea-air interface parameters back to a data center.
6. A control system for an unmanned craft, said system adapted for use with an unmanned craft comprising an internal combustion engine propelled hull and a purely electric propelled hull hinged together by electromagnetic hinging means, said system comprising:
the first determining unit is used for determining the target navigational speed of the unmanned ship in the current navigation section based on a preset navigation plan;
the processing unit is used for controlling an internal combustion engine of the internal combustion engine propelling the boat body to operate at a preset rotating speed corresponding to the target speed, and determining the yaw rate, the actual position and the actual course of the unmanned boat;
the second determining unit is used for determining and obtaining a propeller rotating speed adjusting value according to the navigation plan, the actual position, the actual course and the yaw rate;
and the first control unit is used for adjusting the rotating speed of the propeller of the pure electric propulsion boat body based on the propeller rotating speed adjusting value so as to control the course of the unmanned boat.
7. The system of claim 6, wherein the voyage plan comprises at least a plurality of target waypoints; the second determination unit includes:
the first determining module is used for determining the course of a waypoint according to a current target waypoint which the unmanned ship goes to, and determining an expected track and an expected track position according to the current target waypoint and a last target waypoint which the unmanned ship passes through;
a second determination module to determine a yaw distance based on the current target waypoint, the expected track location, and the actual location;
the third determining module is used for determining an adjusting course based on the yaw distance, the waypoint course and the actual course;
and the calculation module is used for calculating to obtain a propeller rotating speed adjustment value through the adjustment course and the yaw rate.
8. The system according to claim 6 or 7, characterized in that it further comprises:
the computing unit is used for computing sea surface true wind vectors and the hull postures of the unmanned ship;
the judging unit is used for judging to obtain sea condition data according to the sea surface true wind vector, the ship body posture and a fuzzy controller configured with a fuzzy rule base;
a disengaging unit for controlling disengagement of said electromagnetic articulation device to separate said internal combustion engine propulsion hull from said pure electric propulsion hull when said sea state data satisfies a preset disengagement threshold and/or when said unmanned boat reaches a preset disengagement position;
and the second control unit is used for controlling the separated internal combustion engine to propel the hull to return to the sea and controlling the separated pure electric propulsion hull to continue to sail according to a preset sailing plan.
9. The system according to claim 8, wherein the computing unit is specifically configured to: measuring the sea surface wind speed and the sea surface wind direction by using the boat-mounted ultrasonic wind measuring device of the unmanned boat; calculating to obtain a sea surface true wind vector by combining the sea surface wind speed, the sea surface wind direction, the unmanned ship speed and the unmanned ship heading; and performing strapdown calculation based on the heading of the inertial measurement unit of the unmanned ship and the GNSS combined compass to calculate the ship body attitude of the unmanned ship.
10. The system of claim 8, further comprising:
and the acquisition unit is used for measuring sea-air interface parameters after the separated pure electric propulsion hull sails to a typhoon center area, and transmitting the sea-air interface parameters back to the data center.
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| CN202211547606.8A CN115755927A (en) | 2022-12-05 | 2022-12-05 | Unmanned ship control method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116540617A (en) * | 2023-07-06 | 2023-08-04 | 中国科学院空天信息创新研究院 | Unmanned agricultural machinery cooperative work control method introducing weight variable control |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116540617A (en) * | 2023-07-06 | 2023-08-04 | 中国科学院空天信息创新研究院 | Unmanned agricultural machinery cooperative work control method introducing weight variable control |
| CN116540617B (en) * | 2023-07-06 | 2023-09-08 | 中国科学院空天信息创新研究院 | Unmanned agricultural machinery cooperative work control method introducing weight variable control |
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