CN116027671B - Anchoring method and system of wave glider - Google Patents
Anchoring method and system of wave glider Download PDFInfo
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- 238000004873 anchoring Methods 0.000 title claims abstract description 34
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Abstract
The invention discloses an anchoring method and system of a wave glider, and relates to the field of wave glider control, wherein the method comprises the following steps: obtaining rudder angle change and battery voltage of the wave glider in real time; the battery voltage provides energy for the wave glider; determining a dead zone radius according to the rudder angle change of the wave glider and the battery voltage; the dead zone corresponding to the dead zone radius is a circular area taking the expected position as the center of a circle and taking the dead zone radius as the radius, and when the wave glider enters the dead zone, the expected course of the wave glider is not changed any more; and determining the current expected heading of the wave glider according to the current position, the expected position and the current dead zone radius of the wave glider. The invention improves the anchoring accuracy while taking into account the energy consumption.
Description
Technical Field
The invention relates to the technical field of wave glider control, in particular to an anchoring method and system of a wave glider.
Background
Firstly, the existing anchoring algorithm is generally aimed at a platform with controllable speed such as a ship or an unmanned ship, but the speed of a wave glider is not controllable, the anchoring difficulty is higher, and the existing anchoring algorithm is not applicable to the wave glider; secondly, the accuracy of the existing anchoring algorithm is not high, and again, the existing algorithm does not consider the relationship between the balanced anchoring accuracy and the energy consumption.
Disclosure of Invention
The invention aims to provide an anchoring method and an anchoring system of a wave glider, which are capable of improving the anchoring precision while considering energy consumption.
In order to achieve the above object, the present invention provides the following solutions: a method of anchoring a wave glider, comprising the steps of.
The rudder angle change and the battery voltage of the wave glider are obtained in real time.
And determining the dead zone radius according to the rudder angle change of the wave glider and the battery voltage.
And determining the current expected heading of the wave glider according to the current position, the expected position and the current dead zone radius of the wave glider.
The invention discloses an anchoring system of a wave glider, comprising: the rudder angle change and battery voltage real-time acquisition module is used for acquiring the rudder angle change and the battery voltage of the wave glider in real time.
And the dead zone radius determining module is used for determining the dead zone radius according to the rudder angle change of the wave glider and the battery voltage.
And the current expected course determining module is used for determining the current expected course of the wave glider according to the current position, the expected position and the current dead zone radius of the wave glider.
According to the specific embodiments provided by the invention, the following technical effects are disclosed.
According to the invention, the dead zone radius is determined according to the rudder angle change and the battery voltage of the wave glider, and the current expected heading of the wave glider is determined according to the current position, the expected position and the current dead zone radius of the wave glider, namely, the invention improves the anchoring precision while considering the energy consumption, and realizes the purposes of balancing the position precision and the energy consumption under the changed environment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of an anchoring method of a wave glider according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of an improved weather optimal control algorithm according to an embodiment of the present invention.
Fig. 3 is a schematic diagram showing a comparison of a real battery discharge curve and a simplified battery discharge curve according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of an anchoring test effect based on an anchoring method of a wave glider according to an embodiment of the present invention.
Fig. 5 is a schematic structural view of an anchoring system of a wave glider according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide an anchoring method and an anchoring system of a wave glider, which are capable of improving the anchoring precision while considering energy consumption.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1: the present embodiment provides a method of anchoring a wave glider, as shown in fig. 1, which includes the following steps.
Step 101: the rudder angle change and the battery voltage of the wave glider are obtained in real time.
The battery voltage provides energy to the wave glider.
Step 102: and determining the dead zone radius according to the rudder angle change of the wave glider and the battery voltage.
And the dead zone corresponding to the dead zone radius is a circular area taking the expected position as the center of a circle and taking the dead zone radius as the radius, and when the wave glider enters the dead zone, the expected course of the wave glider is not changed any more.
When the wave glider is outside the dead zone range, the wave glider remains in a direction towards the desired position. When entering the dead zone range, the wave glider keeps the desired heading unchanged at the last moment of entering the dead zone until it leaves the dead zone, again updating the desired heading.
According to the rudder angle change and the battery voltage of the wave glider, the dead zone radius is determined by adopting an adaptive dead zone circle control algorithm (Adaptive Dead Circle Control Algorithm, ADCC).
As the sea turbulence (i.e. waves and currents) increases, the position error and energy consumption of the wave glider will become greater. The key to ADCC is to provide a dead zone radius for a subsequently improved weather optimal control algorithm to achieve an optimal balance of position maintenance accuracy and energy consumption over a period of time.
The step 102 specifically includes: and establishing an objective function for balancing the position of the wave glider and the energy consumption based on the rudder angle change of the wave glider and the battery voltage.
And optimizing the objective function to obtain the minimized objective function value.
And determining the dead zone radius according to the minimized objective function value.
The objective function is expressed as: j (T) =d (T) +e (T).
Wherein T represents a setting update period, J (T) represents an objective function of the T-th setting update period, D (T) represents a position error value in the T-th setting update period, and E (T) represents an energy consumption value in the T-th setting update period, that is, a total stroke angle of the rudder in the setting update period.
D (T) is obtained by calculating a Root Mean Square (RMS) value of the distance between the current position and the desired position in the set update period.
The position error value in the T-th setting update period is expressed as:
。
the energy consumption value in the T-th setting update period is expressed as:
。
where k denotes the operating cycle of the rudder, one set update period T denotes n time steps, n=100k, d (k) denotes the distance between the current position and the desired position at operating cycle k,
indicating rudder angle change of wave glider, < ->
Represents the energy consumption gain, μ represents the ratio gain between D (T) and E (T), μ is determined by the battery power of the wave glider. Rudder angle transformerRemove->
Is calculated and obtained by a wave glider control system.
The invention converts the dynamic position control problem into the dynamic optimization problem by introducing the objective function J (T), so that the minJ (T) meets the condition. When minJ (T) is satisfied, R d And (T) is the best solution for the dead zone radius.
The dead zone radius is expressed as follows.
Wherein R is d (T) represents the dead zone radius at the time of the T-th set update period, R d (T-1) represents a dead zone radius at the time of the T-1 th setting update period, J (1) represents an objective function value at the time of the 1 st setting update period, D (T-1) represents a position error value at the time of the T-1 st setting update period, E (T-1) represents an energy consumption value at the time of the T-1 st setting update period, J (T-1) represents an objective function at the time of the T-1 st setting update period, D (T-2) represents a position error value at the time of the T-2 nd setting update period, E (T-2) represents an energy consumption value at the time of the T-2 th setting update period, J (T-2) represents an objective function at the time of the T-2 th setting update period,
e (T-1) represents the energy consumption variation amount of the T-1 th setting update period,/->
D (T-1) represents the amount of change in position error of the T-1 st setting update period,/->
J (T-1) represents the change amount of the objective function value in the T-1 th setting update period; sign () represents a sign function.
R d (T)The initial value was 15 meters. When entering the second set update period, the dead circle radius needs to be reduced to obtain a smaller position error when the position error occupies a larger weight in the objective function. When the energy consumption occupies a larger weight in the objective function, the dead zone radius needs to be increased to obtain a smaller energy consumption. The change in the dead zone radius is determined by the objective function value change amount.
The value μ in the objective function J (T) is adjusted by the remaining energy using a simplified battery discharge equation. The simplified battery discharge equation and the battery discharge curve approaching the actual operating state of the wave glider are shown in fig. 3, the solid line in fig. 3 represents the actual battery discharge curve, the broken line represents the simplified battery discharge curve, and the simplified ratio gain equation is described as:
。
V b representing the battery voltage provided by the power system of the wave glider. The power level is divided into three ranges according to voltage: the high level, the normal level and the low level correspond to 80% -100%, 20% -80% and less than 20% of the remaining power, respectively. The ratio gain mu can be adjusted according to the power level of the wave glider.
Step 103: and determining the current expected heading of the wave glider according to the current position, the expected position and the current dead zone radius of the wave glider.
The improved weather optimum control algorithm (Modified Weather Optimal Positioning Control, MWOPC), i.e. the MWOPC guidance law, is represented as follows.
Where k denotes the operating period of the rudder, one set update period T denotes n time steps, n=100deg.C,
indicating the expected heading, ψ, of the kth+1st action period d (k) Represents the expected heading at the kth time, d (k+1) represents the distance between the current position and the expected position at action period k+1, R d (T) represents the dead zone radius at the time of the T-th set update period, R c Representing the minimum turning radius, R, of the wave glider dmax Represents the set maximum radius, f (x d ，y d ，x c ，y c ) Representing a desired heading update function, (x) d ，y d ) Representing the desired position coordinates, (x) c ，y c ) Representing the current position coordinates, x d An abscissa, y, representing the desired position d Ordinate, x representing the desired position c The abscissa, y, representing the current position c Representing the ordinate of the current position.
The maximum radius is set to be 100 meters, the minimum turning radius of the wave glider is 7.5 meters, and the minimum radius of the dead zone is more than 2R in consideration of the limit of the turning radius of the wave glider c 。
The proposed MWOPC algorithm is subjected to stability analysis, which can achieve a relevant control objective of position maintenance, as follows.
Wherein t represents time, x e A first cross track error, x, representing the desired position e =x d - x c ，y e A second cross track error, y, representing the desired position e =y d - y c N represents a positive integer and epsilon represents a finite constant.
The position maintaining process of the anchoring method of the wave glider comprises two parts, namely position maintaining and course control. In the first partIn this, as shown in fig. 2, an improved weather optimum control algorithm is designed to update the desired heading in real time using the desired position and the current position of the wave glider, according to the current desired heading ψ d The actual heading ψ of the wave glider is controlled, in fig. 2 d representing the distance between the desired position and the current position, δ representing the angle of flight of the wave glider. The dead zone radius is updated on-line by an ADCC algorithm based on the input rudder angle change, the battery voltage, and the distance between the desired location and the current location.
In the second part, a heading control algorithm is used to update the rudder angle based on the desired heading and the current heading angle. In addition, external disturbances w such as wave motion, ocean currents and nonlinear dynamics models of the wave glider are also considered in this process. The main problem of the present invention is how to change the radius of the dead circle in order to balance position accuracy and energy consumption under varying circumstances.
According to the anchoring method of the wave glider, anchoring tests are carried out on the wave glider based on the anchoring method of the wave glider, the test effect is as shown in fig. 4, the abscissa in fig. 4 is longitude, the ordinate is latitude, each dot in fig. 4 represents position sampling data of the wave glider in a period of test time during the test, the position sampling frequency of the wave glider is 1 minute/time, 50% of all test data are smaller than a first round probability error, 90% of test data are smaller than a second round probability error, the first round probability error represents a round probability error of 15 meters, the second round probability error represents a round probability error of 33 meters, and the anchoring method of the wave glider achieves high-precision anchoring through the test.
Example 2: this embodiment discloses an anchoring system for a wave glider, as shown in fig. 5, comprising the following modules.
The rudder angle change and battery voltage real-time acquisition module 201 is used for acquiring the rudder angle change and battery voltage of the wave glider in real time; the battery voltage provides energy to the wave glider.
A dead zone radius determination module 202 for determining a dead zone radius from a rudder angle variation of the wave glider and a battery voltage; and the dead zone corresponding to the dead zone radius is a region taking the expected position as the center of a circle and taking the dead zone radius as the radius, and when the wave glider enters the dead zone, the expected course of the wave glider is not changed any more.
The current expected heading determining module 203 is configured to determine a current expected heading of the wave glider according to a current position, an expected position and a current dead zone radius of the wave glider.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (3)
1. A method of anchoring a wave glider, comprising:
obtaining rudder angle change and battery voltage of the wave glider in real time;
determining a dead zone radius according to the rudder angle change of the wave glider and the battery voltage;
determining a current expected heading of the wave glider according to the current position, the expected position and the current dead zone radius of the wave glider;
the dead zone radius is determined according to the rudder angle change of the wave glider and the battery voltage, and the method specifically comprises the following steps:
establishing an objective function for balancing the position maintenance and the energy consumption of the wave glider based on the rudder angle change and the battery voltage of the wave glider;
optimizing the objective function to obtain a minimized objective function value;
determining a dead zone radius according to the minimized objective function value;
the objective function is expressed as:
J(T)=D(T)+E(T)；
wherein,,Tindicating that the update period is set,J(T) Represent the firstTThe objective function of the update period is set,D(T) Represent the firstTThe position error values in the update period are set,E(T) Represent the firstTSetting the energy consumption value in the update period;
the dead zone radius is expressed as:
wherein,,R d (T) Represent the firstTThe dead zone radius at the time of the update period is set,R d (T-1) represents the firstT1 dead zone radius at set update period,J(1) The objective function value at the 1 st set update period is shown,D(T-1) represents the firstTA position error value in 1 set update period,E(T-1) represents the firstTThe energy consumption value in 1 set update period,J(T-1) represents the firstT1 objective function at the setting of the update period,D(T-2) represents the firstTPosition error values in 2 setting update periods,E(T-2) represents the firstTEnergy consumption values in 2 set update periods,J(T-2) represents the firstT2 objective functions at set update periods,
E(T-1) represents the firstT-1 energy consumption variation of a set update period,/->
D(T-1) represents the firstT-1 position error change amount of set update period,/->
J(T-1) represents the firstT-1 change in objective function value for a set update period;sign() Representing a sign function;
first, theTThe position error values in the individual setting update periods are expressed as:
first, theTThe energy consumption values in the individual setting update periods are expressed as:
wherein,,kindicating the operating cycle of the rudder, a set update cycleTRepresentation ofnA number of time steps is taken,n=100k，d(k) Representing the period of actionkWhen the distance between the current position and the desired position,
indicating rudder angle change of wave glider, < ->
The energy consumption gain is represented by a graph,μrepresentation ofD(T) And (3) withE(T) A ratio gain therebetween;
V b representing a battery voltage;
determining a current expected heading of the wave glider according to the current position, the expected position and the current dead zone radius of the wave glider, wherein the method specifically comprises the following steps of:
determining a current expected heading of the wave glider by adopting an improved weather optimal control algorithm according to the current position, the expected position and the current dead zone radius of the wave glider;
the improved weather optimal control algorithm is expressed as:
wherein,,kindicating the operating cycle of the rudder, a set update cycleTRepresentation ofnA number of time steps is taken,n=100k，ψ d (k+1) represents the expected heading, ψ, of the kth+1st action period d (k) Represents the kth expected heading, d (k+1) represents the action periodkDistance between the current position and the desired position at +1,R d (T) Represent the firstTThe dead zone radius at the time of the update period is set,R c representing the minimum turning radius of the wave glider,R dmax indicating that the maximum radius is set up,f(x d ，y d ，x c ，y c ) Representing the expected course update functionx d ，y d ) Representing the expected position coordinates [ ]x c ，y c ) The coordinates of the current location are indicated,x d the abscissa representing the desired position is indicated,y d the ordinate representing the desired position is indicated,x c the abscissa representing the current position is indicated,y c representing the ordinate of the current position.
2. The method of anchoring a wave glider according to claim 1, wherein the set maximum radius is 100 meters and the minimum turning radius of the wave glider is 7.5 meters.
3. An anchoring system for a wave glider, comprising:
the rudder angle change and battery voltage real-time acquisition module is used for acquiring rudder angle change and battery voltage of the wave glider in real time;
the dead zone radius determining module is used for determining the dead zone radius according to the rudder angle change of the wave glider and the battery voltage;
the current expected course determining module is used for determining the current expected course of the wave glider according to the current position, the expected position and the current dead zone radius of the wave glider;
the dead zone radius is determined according to the rudder angle change of the wave glider and the battery voltage, and the method specifically comprises the following steps:
establishing an objective function for balancing the position maintenance and the energy consumption of the wave glider based on the rudder angle change and the battery voltage of the wave glider;
optimizing the objective function to obtain a minimized objective function value;
determining a dead zone radius according to the minimized objective function value;
the objective function is expressed as:
J(T)=D(T)+E(T)；
wherein,,Tindicating that the update period is set,J(T) Represent the firstTThe objective function of the update period is set,D(T) Represent the firstTThe position error values in the update period are set,E(T) Represent the firstTSetting the energy consumption value in the update period;
the dead zone radius is expressed as:
wherein,,R d (T) Represent the firstTThe dead zone radius at the time of the update period is set,R d (T-1) represents the firstT1 dead zone radius at set update period,J(1) The objective function value at the 1 st set update period is shown,D(T-1) represents the firstTA position error value in 1 set update period,E(T-1) represents the firstTThe energy consumption value in 1 set update period,J(T-1) represents the firstT1 objective function at the setting of the update period,D(T-2) represents the firstTPosition error values in 2 setting update periods,E(T-2) represents the firstTEnergy consumption values in 2 set update periods,J(T-2) represents the firstT2 objective functions at set update periods,
E(T-1) represents the firstT-1 energy consumption variation of a set update period,/->
D(T-1) represents the firstT-1 position error change amount of set update period,/->
J(T-1) represents the firstT-1 change in objective function value for a set update period;sign() Representing a sign function;
first, theTThe position error values in the individual setting update periods are expressed as:
first, theTThe energy consumption values in the individual setting update periods are expressed as:
wherein,,kindicating the operating cycle of the rudder, a set update cycleTRepresentation ofnA number of time steps is taken,n=100k，d(k) Representing the period of actionkWhen the distance between the current position and the desired position,
indicating rudder angle change of wave glider, < ->
The energy consumption gain is represented by a graph,μrepresentation ofD(T) And (3) withE(T) A ratio gain therebetween;
V b representing a battery voltage;
determining a current expected heading of the wave glider according to the current position, the expected position and the current dead zone radius of the wave glider, wherein the method specifically comprises the following steps of:
determining a current expected heading of the wave glider by adopting an improved weather optimal control algorithm according to the current position, the expected position and the current dead zone radius of the wave glider;
the improved weather optimal control algorithm is expressed as:
wherein,,kindicating the operating cycle of the rudder, a set update cycleTRepresentation ofnA number of time steps is taken,n=100k，ψ d (k+1) represents the expected heading, ψ, of the kth+1st action period d (k) Represents the kth expected heading, d (k+1) represents the action periodkDistance between the current position and the desired position at +1,R d (T) Represent the firstTThe dead zone radius at the time of the update period is set,R c representing the minimum turning radius of the wave glider,R dmax indicating that the maximum radius is set up,f(x d ，y d ，x c ，y c ) Representing the expected course update functionx d ，y d ) Representing the expected position coordinates [ ]x c ，y c ) The coordinates of the current location are indicated,x d the abscissa representing the desired position is indicated,y d the ordinate representing the desired position is indicated,x c the abscissa representing the current position is indicated,y c representing the ordinate of the current position.
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