CN116880519B - Submersible vehicle motion control method based on sliding mode variable structure - Google Patents
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Abstract
The invention provides a submersible vehicle motion control method based on a sliding mode variable structure, which adopts the sliding mode variable structure as a control law, adopts an improved sigmoid function to replace a conventional sigmoid type function to improve control response, adopts a tangent function tanh () to replace a sign function sign () to improve buffeting phenomenon, and changes the state of a single task through control itemsThe self-definition and self-adaptation are carried out, manual intervention is not needed, and high-precision motion control can be realized even under the condition of ocean current interference. The invention can be applied to the motion control of the submarine during static/dynamic submarine rescue with higher control precision, the heading control precision can be within 0.1 degrees, the depth control precision can be within 0.02m, and the high-precision motion control is realized.
Description
Technical Field
The invention relates to the field of underwater salvage, in particular to a submersible vehicle motion control method based on a sliding mode variable structure.
Background
With the continuous development of the technologies such as computer simulation, automatic control, artificial intelligence, deep learning, underwater operation tools and the like, the underwater vehicle technology also makes a great breakthrough. The underwater vehicle plays an important role in areas where frogmans, divers and other underwater operation equipment are not easy to reach, and has been widely applied to the aspects of submarine pipeline detection and maintenance, submarine optical cable maintenance, dyke detection, submarine resource detection and the like.
Because the underwater vehicle belongs to a strong-coupling strong-nonlinearity system, an accurate mathematical model is difficult to build, and therefore, good control performance is required to ensure that the operation task is completed. In the prior art, in the actual use process, the underwater vehicle needs to take different operation tasks into consideration to carry different operation equipment and different sensors, so that the control method of the underwater vehicle needs to have certain self-adaptive capacity, the control structure of the prior scheme is complex, the parameter adjustment quantity is large, and the underwater vehicle is difficult to popularize and apply in conventional engineering.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a sliding mode variable structure-based submersible vehicle motion control method, so as to solve the problems in the background art.
In order to achieve the above object, the present invention is realized by the following technical scheme: a submersible vehicle motion control method based on a sliding mode variable structure is shown in a structural formula (1):
wherein: f (F) T For the control output matrix of the motion control method,for the estimated quality matrix +.>As a derivative term of the target velocity vector, K 1 And K 2 Is a normal bounded diagonal gain matrix, K 3 Is a normal bounded diagonal matrix, tan () is a tangent function, exp () is an exponential function, ++>Is an improved sigmoid function S E A sliding mode surface controlled by a sliding mode variable structure>The self-definition and self-adaption of the state change of a single task are embodied for the estimated static load vector containing the force and the moment.
Further, in the formula (1), e and S are defined E As shown in formula (2):
wherein,representing the attitude angle and position matrix under the geodetic coordinate system,/->Is the estimated bias matrix of xi.
Further, to ensure the stability of the proposed control method, a lyapunov function of formula (3) was constructed:
further, V of formula (3) L Differentiation gives formula (4):
the deduction proves that the formula (4) is less than 0, namely the provided control method meets the Lyapunov stability condition.
Further, for S in formula (2) E A control parameter matrix K for deviation represented by formula (5) can be defined 1 Control parameter of deviation change rateMatrix K 2 ：
Further, formula (1) can be finally converted into formula (6)
Further, in the formula (6), F Ti ,v ti ,/>e i ,/>S Ei For the i-th component of the corresponding vector,K 1i ,K 2i ,K 3i ,K 4i is the element corresponding to the ith row and ith column of the matrix.
Further, after the control calculation, thrust distribution is required, and a thrust distribution strategy with heading priority is adopted.
The invention has the beneficial effects that:
1. the submersible vehicle motion control method based on the sliding mode variable structure adopts an improved sigmoid function to replace a conventional sigmoid function, further improves control response, adopts a tangent function tanh () to replace a sign function sign (), improves buffeting phenomenon, considers the influence of hull compression on static load, can perform self-definition and self-adaption according to a single task state, and improves submersible vehicle motion control precision.
2. The sliding mode variable structure-based submersible vehicle motion control method has the advantages of simple control structure, less control parameters to be adjusted, high control precision, suitability for engineering application and capability of realizing high-precision control of depth and gesture during rescue of a submarine.
Drawings
FIG. 1 is an automatic control schematic diagram of a submersible vehicle motion control method based on a sliding mode variable structure of the invention;
FIG. 2 is a flow chart of the automatic control of the present invention;
FIG. 3 is a schematic view of a submersible vehicle according to the present invention;
FIG. 4 is a diagram of a hardware architecture of the present invention;
FIG. 5 is a software information flow diagram of the present invention;
FIG. 6 is a schematic diagram of a digital simulation platform of the present invention;
fig. 7 is a graph of a motion control digital simulation of the present invention.
Detailed Description
The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
Referring to fig. 1 to 7, the present invention provides a technical solution: a submersible vehicle motion control method based on a sliding mode variable structure constructs a motion control method shown in a formula (1), F T For the control output matrix of the motion control method,for the estimated quality matrix +.>As a derivative term of the target velocity vector, K 1 And K 2 Is a normal bounded diagonal gain matrix, K 3 Is a normal bounded diagonal matrix, tan () is a tangent function, exp () is an exponential function, ++>Is an improved sigmoid function S E A sliding mode surface controlled by a sliding mode variable structure>The self-definition and self-adaption of the state change of a single task are embodied for the estimated static load vector containing the force and the moment.
In formula (1), e and S are defined E As shown in (2)
Wherein,representing the attitude angle and position matrix under the geodetic coordinate system,/->Is the estimated bias matrix of xi.
To ensure the stability of the proposed control method, a lyapunov function of formula (3) was constructed:
v of pair (3) L Differentiation is carried out to obtain the formula (4)
The deduction proves that the formula (4) is less than 0, namely the provided control method meets the Lyapunov stability condition.
For S in formula (2) E A control parameter matrix K for deviation represented by formula (5) can be defined 1 Control parameter matrix K for deviation change rate 2 。
Formula (1) can finally be converted into formula (6)
Wherein F is Ti ,v ti ，/>e i ，/>S Ei For the i-th component of the corresponding vector, +.>K 1i ,K 2i ,K 3i ,K 4i Is the element corresponding to the ith row and ith column of the matrix.
After the control solution, thrust distribution is needed, and a thrust distribution strategy with heading priority is adopted.
In this embodiment, fig. 3 is a schematic view of a submersible vehicle. The underwater vehicle can be used for realizing accurate motion control during static/motion rescue of a submarine, the sensors of the underwater vehicle comprise an optical fiber gyroscope, a depth gauge, a Doppler velocimeter, an acousto-optic sensor and the like, and the equipped actuators are 6 thrusters, and comprise a left main pusher (1) and a right main pusher (2), a head vertical pusher (3) and a tail vertical pusher (4), an upper main pusher (5) and a lower main pusher (6). The underwater vehicle can carry different operation devices according to different operation tasks.
Fig. 4 is a hardware architecture diagram. The underwater vehicle comprises an intelligent planning system, a navigation system, a motion control system and the like, and all the systems communicate information through a PC/104 bus. The intelligent planning system is used for resolving and distributing target instructions. The navigation system is connected with the GPS and the inertial navigation device and is used for providing high-precision navigation data. The motion control system is used for collecting sensor data, decoding, calculating by a control algorithm and sending a thrust command to the propeller. The fiber optic gyroscope is used for measuring heading angle and longitudinal and transverse inclination angle information, the depth gauge is used for measuring depth information, the Doppler velocimeter is used for measuring speed information of relative water flow, and the acousto-optic sensor is used for detecting and identifying.
Fig. 5 is a software information flow diagram. The flow from top to bottom is as follows: the target generation and processing module receives target instructions and classifies the instructions according to tasks. At the control command module, control targets are first initialized, including selection of motion control mode, type of motion control, and parameters. The information is then sent to the motion control algorithm module, and the data collected, preprocessed, filtered and fused by the different sensors is also sent to the motion control algorithm module. The motion control module is the most central part. In the automatic control mode, the target is resolved by a control algorithm and sent to the propeller, and the propeller moves to enable the underwater vehicle to move according to the expected target. At the same time, information of the emergency processing system, the sound visual system, the light visual system and the propeller is obtained and stored through the monitoring module.
Fig. 1 is a schematic diagram of an automatic control. The six-degree-of-freedom motion control of the underwater vehicle can be realized theoretically. When the depth control is carried out, the set value is a target depth value, the measured value is an actual depth value measured by a depth sensor, the deviation is the difference between the target depth and the actual depth, the controller is a depth controller, the control signal is a thrust voltage signal which is obtained by resolving through a sliding mode control method and is sent by a corresponding propeller, the actuator is a head vertical pushing (3) and a tail vertical pushing (4), an upper main pushing (5) and a lower main pushing (6), the controlled medium is the thrust of the propeller, the external disturbance refers to increased current interference, the controlled parameter is depth, and the sensor is a depth meter. When the heading angle control is carried out, the set value is a target heading angle, the measured value is an actual heading angle measured by the fiber optic gyroscope, the deviation is the difference between the target heading angle and the actual heading angle, the controller is a heading controller, the control signal is a thrust voltage signal which is obtained by resolving through a sliding mode control method and is sent by a corresponding propeller, the actuator is a left main propeller (1) and a right main propeller (2), an upper main propeller (5) and a lower main propeller (6), the controlled medium is the thrust of the propeller, the external disturbance is increased ocean current interference, the controlled parameter is the heading angle, and the sensor is the fiber optic gyroscope.
Fig. 2 is an automatic control flow chart. When automatic control is carried out, a target value is set firstly, then control parameters of the controller are initialized, then calculation of the controller is carried out, thrust (moment) which should be provided by each degree of freedom is obtained, thrust distribution is carried out according to a heading priority strategy, thrust which should be sent by each propeller is obtained, a thrust instruction is sent to the corresponding propeller in the form of analog voltage, the propeller rotates to drive the underwater vehicle to move, data of the sensor are updated accordingly, and whether closed loop control needs to be continuously carried out is determined according to comparison of the current value and the target value.
The following experiments prove that the total length of the submarine is about 5m, the maximum diameter is about 0.5m, and the weight is about 2.2t. The underwater vehicle is provided with 6 propellers, comprising a left main push (1) and a right main push (2), a head vertical push (3) and a tail vertical push (4), an upper main push (5) and a lower main push (6).
The control parameter is selected as K 1 ＝diag(0.7,1.2,2.2,1.2,1.4,0.5)，K 2 ＝diag(0.35,0.6,1.1,0.6,0.7,0.25)，K 3 ＝diag(1.1,1.6,2.2,1.6,1.1,0.6)，K 4 Diag (110,110,160,110,110,400). By means of control items, the sensor and the working equipment mounted on different working tasks are considered to be differentThe state change of a single task is customized and adapted, in an embodiment,/->The selection is made according to formula (1).
Before thrust distribution, the thrust generated by the left main thrust and the right main thrust is assumed to be f 1 、f 2 Their moment arms to the centre of the hull are l 1 、l 2 The included angle is χ, and the thrust force generated by vertical pushing from head to tail is f respectively 3 、f 4 It is provided withThe force arms of the force arms to the center of the boat body are respectively l 3 、l 4 The thrust force generated by the main pushing up and down is f 5 、f 6 Their moment arms to the centre of the hull are l 5 、l 6 And if the included angle is gamma, the thrust distribution formula is shown as formula (7):
a digital simulation platform (schematic diagram is shown in fig. 6) is built. The underwater vehicle is set initially stationary on the surface with current flow of 0.3m/s, 45 ° flow, and the control curve of heading and depth of the underwater vehicle in this example is shown in fig. 7. In the embodiment, the submersible vehicle motion control method based on the sliding mode variable structure is applied, and results show that automatic control of a heading angle and depth is achieved, the heading angle control and the depth control of the control method basically have no overshoot and oscillation, the steady-state deviation of the heading angle is smaller than 0.1 degrees, and the steady-state deviation of the depth is smaller than 0.02m.
While the fundamental and principal features of the invention and advantages of the invention have been shown and described, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (7)
1. The submersible vehicle motion control method based on the sliding mode variable structure is characterized by being shown in a construction formula (1):
wherein: f (F) T For the control output matrix of the motion control method,for the estimated quality matrix +.>Is the differential term of the target velocity vector, +.>As a differential term of the deviation vector, K 1 And K 2 Is a normal bounded diagonal gain matrix, K 3 Is a normal bounded diagonal matrix, tan () is a tangent function, exp () is an exponential function, ++>Is an improved sigmoid function S E A sliding mode surface controlled by a sliding mode variable structure>The self-definition and self-adaption of the state change of a single task are embodied for the estimated static load vector containing the force and the moment.
2. The method for controlling the movement of the submersible vehicle based on the sliding mode variable structure according to claim 1, wherein the method comprises the following steps: in the formula (1), e and S are defined E As shown in formula (2):
wherein,representing the attitude angle and position matrix under the geodetic coordinate system,/->Is the estimated bias matrix of xi.
3. The method for controlling the movement of the submersible vehicle based on the sliding mode variable structure according to claim 2, wherein the method comprises the following steps: to ensure the stability of the proposed control method, a lyapunov function of formula (3) was constructed:
wherein M is a quality matrix.
4. A method for controlling the movement of a submersible vehicle based on a sliding mode variable structure according to claim 3, wherein: v of pair (3) L Differentiation gives formula (4):
the deduction proves that the formula (4) is less than 0, namely the provided control method meets the Lyapunov stability condition.
5. The method for controlling the movement of the submersible vehicle based on the sliding mode variable structure according to claim 2, wherein the method comprises the following steps: for S in formula (2) E A control parameter matrix K for deviation represented by formula (5) can be defined 1 Control parameter of deviation change rateMatrix K 2 ：
Wherein k is 1 Control parameter matrix K for deviation 1 The 1 st row and 1 st column of the set, k 2 Control parameter matrix K for deviation 1 Component corresponding to row 2 and column 2, k 3 Control parameter matrix K for deviation 1 Component corresponding to row 3 and column 3, k 4 Control parameter matrix K for deviation 1 Component corresponding to row 4 and column 4, k 5 Control parameter matrix K for deviation 1 Component corresponding to row 5 and column 5, k 6 Control parameter matrix K for deviation 1 Component corresponding to row 6 and column 6, k 21 Control parameter matrix K for rate of change of deviation 2 The 1 st row and 1 st column of the set, k 22 Control parameter matrix K for rate of change of deviation 2 Component corresponding to row 2 and column 2, k 23 Control parameter matrix K for rate of change of deviation 2 Component corresponding to row 3 and column 3, k 24 Control parameter matrix K for rate of change of deviation 2 Component corresponding to row 4 and column 4, k 25 Control parameter matrix K for rate of change of deviation 2 Component corresponding to row 5 and column 5, k 26 Control parameter matrix K for rate of change of deviation 2 Corresponding to row 6 and column 6 of (c).
6. The method for controlling the movement of the submersible vehicle based on the sliding mode variable structure according to claim 5, wherein the method comprises the following steps: formula (1) can finally be converted into formula (6)
Wherein F is Ti To control the output matrix F T Is used to determine the (i) th component of the (c),differential term for target velocity vector +.>V of the ith component of (2) ti For the target velocity vector v t I-th component of>Differential term for bias vector->I-th component, e i Is the i-th component of the deviation vector e, < ->An ith component of an estimated static load vector for the forces and moments of the submersible, S Ei A sliding mode surface S controlled by a sliding mode variable structure E I-th component of>For estimated quality matrix->Is the ith component, K 1i Control parameter matrix K for deviation 1 Is the ith component, K 2i Control parameter matrix K for rate of change of deviation 2 Is the ith component, K 3i For a normal diagonal gain matrix K 3 Is the ith component, K 4i Is a normal diagonal matrix K 4 Is the i-th component of (c).
7. The method for controlling the movement of the submersible vehicle based on the sliding mode variable structure according to claim 6, wherein the method comprises the following steps: after the control solution, thrust distribution is needed, and a thrust distribution strategy with heading priority is adopted.
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