CN117707162A - Unmanned sailing boat dynamic event triggering control method based on improved LVS guidance - Google Patents
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Abstract
The invention discloses an unmanned sailing boat dynamic event triggering control method based on improved LVS guidance, which comprises the following steps: establishing a nonlinear mathematical model of the unmanned sailing boat; acquiring an improved LVS guidance law to acquire a reference heading angle of the unmanned sailing boat; acquiring a course angle error of the unmanned sailing boat; establishing a course angle virtual controller; acquiring a dynamic error of a bow swing direction; and establishing a trigger control law, and acquiring a control law and a self-adaptive law of the unmanned sailing boat so as to control the unmanned sailing boat. According to the invention, through an improved LVS guidance law, the discontinuous characteristic of reference heading signals of an unmanned sailing ship guidance structure is solved, and meanwhile, a good tracking effect can be realized in crosswind and non-crosswind sailing states, and the sailing ship can sail along a gentle arc-shaped path. The unmanned sailing boat can effectively execute the path tracking control task under the time-varying wind direction. The dynamic event triggering technology can also reduce the frequent buffeting phenomenon of control input caused by external disturbance, and improve the robustness of a control algorithm.
Description
Technical Field
The invention relates to the technical field of ship motion control, in particular to an unmanned sailing ship dynamic event triggering control method based on improved LVS guidance.
Background
In the field of unmanned sailing boat motion control, the sail structure is mainly used for providing forward power, and the rudder structure is mainly used for generating turning moment. Moreover, in windward and downwind situations, the sail structure cannot provide sufficient forward thrust, so that the sailing boat has the characteristic of being unable to sail in windward and downwind. In the existing unmanned sailing boat guidance structure, windward, downwind and crosswind sailing reference heading are independently generated, and a discontinuous phenomenon exists in the design process of the controller. In addition, because of the existence of the sail structure, the unmanned sailing boat is influenced by time-varying wind speed and wind direction in the sailing process, the closed-loop control system is more prone to generating low-frequency buffeting, and particularly, frequent steering is needed for control input to ensure that the unmanned sailing boat tracks a reference signal in real time, so that the abrasion of an actuator is accelerated.
Therefore, the conventional under-actuated boat path tracking control algorithm has the following 2 point defects in the unmanned sailing boat linear path tracking control task:
1) The traditional ILOS guidance algorithm cannot guide the unmanned sailing boat to carry out a path tracking control task under the time-varying wind direction, and the existing unmanned sailing boat guidance structure has the characteristic of discontinuous reference heading signals.
2) Under the action of wind force, the unmanned sailing boat is easier to reach the saturation state of the actuator, and the stability of the control system is affected. In addition, the control input of the unmanned sailing boat is easier to generate low-frequency buffeting when the external time-varying wind speed and wind direction are down, and the transmission load of the control command is increased.
Disclosure of Invention
The invention provides an unmanned sailing boat dynamic event triggering control method based on improved LVS guidance so as to overcome the technical problems.
In order to achieve the above object, the technical scheme of the present invention is as follows:
an unmanned sailing boat dynamic event triggering control method based on improved LVS guidance comprises the following steps:
s1: establishing a nonlinear mathematical model of the unmanned sailing boat;
s2: obtaining an improved LVS guidance law to obtain a reference heading angle ψ of an unmanned sailing vessel d ；
S3: according to the nonlinear mathematical model of the unmanned sailing boat and the reference course angle psi of the unmanned sailing boat d Acquiring heading angle error psi of unmanned sailing boat e ；
S4: according to the heading angle error psi of the unmanned sailing boat e Establishing a course angle virtual controller;
s5: acquiring a heading direction dynamic error r according to the course angle virtual controller e ；
S6: according to the dynamic error r of the bow swing direction e Establishing a trigger control law, and acquiring a control law and a self-adaptive law of the unmanned sailing boat so as to control the unmanned sailing boat; the trigger control law comprises a rudder angle trigger control law and a sail angle trigger control law.
Further, in the step S1, a nonlinear mathematical model of the unmanned sailing boat is built as follows:
wherein eta represents the running state vector of the unmanned sailing boat under the geodetic coordinate system; wherein, eta= [ x, y, phi] T X represents the position abscissa of the unmanned sailing boat; y represents the ordinate of the position of the unmanned sailing boat; phi represents the transverse inclination angle of the unmanned sailing boat; psi represents the heading angle of the unmanned sailing boat;representing a derivative operation; j (η) represents the euler angular transformation matrix; />Representing the running state vector of the unmanned sailing boat under the attached body coordinate system; wherein u represents the speed of the unmanned sailing boat in the advancing direction under the attached coordinate system; v represents the speed of the unmanned sailing boat in the attached coordinate system; p represents the roll angular velocity of the unmanned sailing boat in the attached coordinate system; r represents the bow swing angular speed of the unmanned sailing boat under the attached body coordinate system; m is M -1 () An inverse matrix representing the additional mass; />Representing additional mass; />Representing model unknowns caused by sails, rudders, keels and hulls; g (η) represents the roll recovery moment at a given roll angle; d, d wi Representing the running state disturbance force/moment of the unmanned sailing boat under an attached body coordinate system caused by a marine environment, wherein i=u, v, p and r; τ= [ τ ] u ,0,τ r ] T Representing control input force/moment of unmanned sailing vessel, wherein τ u Representing the propulsive force provided by the sail τ r Representing the turning moment provided by the rudder; />Wherein m is the mass of the unmanned sailing boat, m u Representing the forward direction hull add-on mass; m is m v Representing the additional mass of the ship body in the transverse floating direction; m is m p Representing the added mass of the hull in roll direction; m is m r Representing the additional mass of the ship body in the bow direction; />Represents the additional mass coefficient of the forward direction, +.>Represents the additional mass coefficient of the horizontal drift direction, +.>Representing the additional mass coefficient in roll direction, +.>Representing the additional mass coefficient of the bow swing direction; i xx Adding moment of inertia to the x-axis direction, I zz Adding moment of inertia to the z-axis direction; g (φ) =mgGM t sin(φ)cos(φ)，GM t Representing the primary stability height; g represents gravitational acceleration; />A hull structure uncertainty term representing a heading;representing a cross-drift direction hull structure uncertainty term; />Representing roll direction hull structure uncertainty term; />Representing the uncertainty item of the ship body structure in the bow direction.
Further, in the step S2, the method for acquiring the improved LVS guidance law is as follows:
obtaining a reference course angle psi from a real ship in a crosswind area to a crosswind virtual ship v The following are provided:
wherein x is e ＝x r2 -x 2 The horizontal coordinate position error from the real ship to the crosswind virtual ship; y is e ＝y r2 -y 2 Is the ordinate position error, x of a real ship to a crosswind virtual ship r2 The position abscissa of the crosswind virtual ship; x is x 2 The horizontal coordinate of the real ship position; y is r2 Is the position ordinate of the crosswind virtual ship; y is 2 Is the ordinate of the position of the real ship;
the nonlinear mathematical model of the unmanned sailing boat is simplified, and then,
ψ d ＝ψ v (4)
wherein: psi phi type d Representing a reference heading angle of the unmanned sailing boat;
introducing a non-crosswind virtual ship model NCVS, and acquiring a straight line path expected reference heading signal as follows:
ψ n (t)＝ψ tw -π·sgn(ψ tw )-c(t)·χ 1 (5)
wherein:. Phi n (t) represents a straight path desired reference heading signal; psi phi type tw Actual wind direction for NCVS; x-shaped articles 1 A top wind zone range for NCVS; c (t) represents a symbol function introduced to realize steering at the current point in time, wherein,ψ r desired heading angle for NCVS; d, d c1 Is a distance threshold; c (t-1) represents the quilt at the last time pointIntroducing a symbol function for realizing steering operation;
obtaining a reference heading angle psi of the unmanned sailing boat d The following are provided:
wherein: psi phi type n Representing a linear path heading angle reference signal; θ 1 The first steering angle of the unmanned sailing boat is represented; θ 2 The angle of the second turn of the unmanned sailing boat is represented; θ 3 The angle of the third turn of the unmanned sailing boat is represented; t is t 11 The time for starting the first turning of the unmanned sailing boat is represented; t is t 12 The time of the first end of the unmanned sailing boat is represented; t is t 21 The time when the second turn of the unmanned sailing boat starts is represented; t is t 22 Indicating the time of the second end of the unmanned sailing boat; t is t 31 The time when the third turn of the unmanned sailing boat starts is represented; t is t 32 Indicating the time at which the unmanned sailing boat has finished for the third time.
Further, in S3, the heading angle error ψ of the unmanned sailing boat is obtained e The method comprises the following steps:
further, in the step S4, the established course angle virtual controller is as follows:
wherein alpha is r Is a course angle virtual controller; k (k) r Is a positive design parameter.
Further, in S5, a yaw direction dynamic error r is obtained e The method comprises the following steps:
wherein: t is t r Representing a time constant; beta r A first order filtered signal representing the heading angle virtual controller; beta r (0) Representing an initial value of a filtered signal of the course angle virtual controller; alpha r (0) Representing an initial value of the course angle virtual control signal; y is r A filtering error formed when the virtual control signal of the course angle passes through the filter;
let the dynamic error r of the bow swing direction e ＝α r -r, get
Wherein f r (. Cndot.) represents the nonlinear term of the unmanned sailing ship heading model; f (F) r (. Cndot.) represents the gain function of the steering engine actuator; d, d wr And representing the ocean environment interference term in the bow direction.
Further, in the step S6, the trigger control law of the rudder angle is established as follows:
acquiring a time-varying rudder angle input signal:
in delta r (t) represents a time-varying rudder angle input signal; delta r (t k ) A rudder angle input signal representing the current trigger point; t is t k Representing the current trigger point time; t is t k+1 Representing the next trigger point time;
the triggering control law of the rudder angle is as follows:
in the method, in the process of the invention,triggering error for rudder angle; /> Triggering threshold parameters for rudder angleh 1 Is the rudder angle dynamic threshold parameter, h 2 Is the rudder angle static threshold parameter,/>Is the rudder angle constant parameter.
Further, in the step S6, the control law and the adaptive law acquiring method of the unmanned sailing boat are as follows:
the control signals of the rudder angle actuator are obtained as follows:
in the method, in the process of the invention,a trigger range defining parameter indicating when the rudder angle input signal is equal to or greater than 0; />A trigger range defining parameter representing when the rudder angle input signal is less than 0;
obtaining control law delta of unmanned sailing boat r (t k ) And adaptive lawThe following are provided:
in delta r (t k ) The rudder angle control law of the unmanned sailing boat is adopted;is->Is a function of the estimated value of (2); />Representing rudder angle learning parameters; alpha N Representing an intermediate control law of the design; k (k) N Representing the controller parameters, k rn Representing a robust neural damping parameter, Z representing a robust neural damping term; />Is a first adaptive parameter greater than zero; sigma (sigma) N Is a second adaptive parameter greater than zero; />An initial value representing a learning parameter;
further, in the step S6, the trigger control law of the sail angle is established as follows:
in delta s (t) represents a time-varying sail angle input signal; delta s (t k ) A sail angle input signal representing a current trigger point; t is t k Representing the current trigger point time; t is t k+1 Representing the next trigger point time;
the firing control law of the sail angle is as follows:
in the sail angle triggering threshold parameterι 1 Is a dynamic threshold parameter of the sail angle,ι 2 is a static threshold parameter of sail angle,>is a sail angle constant parameter.
The beneficial effects are that: according to the unmanned sailing boat dynamic event triggering control method based on improved LVS guidance, the problem that a reference heading signal is discontinuous in an unmanned sailing boat guidance structure is solved through the improved LVS guidance law, meanwhile, the designed event triggering control law can achieve good tracking effects in crosswind and non-crosswind sailing states, and sailing boats can sail along a gentle arc-shaped path at a turning point. The unmanned sailing boat can effectively execute the path tracking control task under the time-varying wind direction. In addition, the dynamic event triggering technology can also reduce the frequent buffeting phenomenon of the control input caused by external disturbance, and improve the robustness of the control algorithm.
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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 or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a flow chart of the unmanned sailing boat dynamic event triggering control of the present invention;
FIG. 2 is a schematic illustration of a navigational area in an embodiment of the invention;
FIG. 3 is a diagram of a modified LVS guidance framework in an embodiment of the invention;
FIG. 4 is a comparison graph of path trace trajectories in an embodiment of the invention;
FIG. 5a is a comparison of rudder angle control inputs in an embodiment of the invention;
FIG. 5b is a comparison of sail angle control inputs in an embodiment of the invention;
FIG. 6 is a comparison of rudder angle triggering intervals in an embodiment of the invention;
FIG. 7 is a comparison of sail angle firing intervals in an embodiment of the present invention;
FIG. 8 is a comparative plot of drift angle in an embodiment of the present invention;
FIG. 9a is a graphical representation of the heading angle control output versus the present invention;
FIG. 9b is a graph comparing roll angle control outputs in an embodiment of the present invention;
fig. 9c is a yaw rate control output versus graph in an embodiment of the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. 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 embodiment provides an unmanned sailing boat dynamic event triggering control method based on improved LVS guidance, which comprises the following steps as shown in fig. 1:
s1: establishing a nonlinear mathematical model of the unmanned sailing boat;
preferably, the 4-degree-of-freedom nonlinear mathematical model of the unmanned sailing boat is built as follows:
wherein eta represents the running state vector of the unmanned sailing boat under the geodetic coordinate system; wherein, eta= [ x, y, phi] T X represents the position abscissa of the unmanned sailing boat; y represents the ordinate of the position of the unmanned sailing boat; phi represents the transverse inclination angle of the unmanned sailing boat; psi represents the bow of an unmanned sailing boatAn angle direction;representing a derivative operation; j (η) represents the euler angular transformation matrix; />Representing the running state vector of the unmanned sailing boat under the attached body coordinate system; wherein u represents the speed of the unmanned sailing boat in the advancing direction under the attached coordinate system; v represents the speed of the unmanned sailing boat in the attached coordinate system; p represents the roll angular velocity of the unmanned sailing boat in the attached coordinate system; r represents the bow swing angular speed of the unmanned sailing boat under the attached body coordinate system; m is M -1 () An inverse matrix representing the additional mass; />Representing additional mass; />Representing model unknowns caused by sails, rudders, keels and hulls, the derivation of which belongs to the prior art and is not described in detail here; g (η) represents the roll recovery moment at a given roll angle; d, d wi Representing the running state disturbance force/moment of the unmanned sailing boat under an attached body coordinate system caused by a marine environment, wherein i=u, v, p and r; τ= [ τ ] u ,0,τ r ] T Representing control input force/moment of unmanned sailing vessel, wherein τ u Representing the propulsive force provided by the sail τ r Representing the turning moment provided by the rudder; /> Wherein m is the mass of the unmanned sailing boat, m u Representing the forward direction hull add-on mass; m is m v Representing the additional mass of the ship body in the transverse floating direction; m is m p Representing the added mass of the hull in roll direction; m is m r Representing the additional mass of the ship body in the bow direction; />Represents the additional mass coefficient of the forward direction, +.>Represents the additional mass coefficient of the horizontal drift direction, +.>Representing the additional mass coefficient in roll direction, +.>Representing the additional mass coefficient of the bow swing direction; />For additional mass in the appendage coordinate system, I xx Adding moment of inertia to the x-axis direction, I zz Adding moment of inertia to the z-axis direction; g (φ) =mgGM t sin(φ)cos(φ)，GM t Representing the primary stability height; g represents gravitational acceleration; />A hull structure uncertainty term representing a heading; />Representing a cross-drift direction hull structure uncertainty term; />Representing roll direction hull structure uncertainty term; />Representing a ship structure uncertainty term in a yaw direction;
s2: obtaining improved LVS guidance law to obtain reference heading angle psi of real ship to crosswind virtual ship in crosswind area v And a reference heading angle ψ of an unmanned sailing boat d ；
Preferably, as shown in FIG. 2The overall framework of the improved LVS guidance laws is shown, with (a) and (b) in the figures representing non-crosswind regions and (c) in the figures representing crosswind regions. In the crosswind region, the real ship position coordinates are (x 2 ,y 2 ) The position coordinates of the crosswind virtual ship are (x) r2 ,y r2 )；
Obtaining a reference course angle psi from a real ship in a crosswind area to a crosswind virtual ship v As formula (3):
wherein x is e ＝x r2 -x 2 The horizontal coordinate position error from the real ship to the crosswind virtual ship; y is e ＝y r2 -y 2 Is the ordinate position error, x of a real ship to a crosswind virtual ship r2 The position abscissa of the crosswind virtual ship; x is x 2 The horizontal coordinate of the real ship position; y is r2 Is the position ordinate of the crosswind virtual ship; y is 2 Is the ordinate of the position of the real ship;
the reference heading angle of the unmanned sailing boat is obtained as follows:
specifically, in order to facilitate the design of the subsequent controller, the 4-degree-of-freedom nonlinear mathematical model of the unmanned sailing boat may be simplified, and the reference heading angle ψ of the unmanned sailing boat d May also be described as formula (4).
ψ d ＝ψ v (4)
Wherein: psi phi type d Representing a reference heading angle of the unmanned sailing boat;
in the improved LVS guidance, a non-crosswind virtual boat (NCVS) was introduced to address the limitations of the traditional LVS guidance principles when unmanned sailboats were sailed in top-wind and down-wind regions. NCVS directs the real vessel along a zigzag reference path.
Introducing a non-crosswind virtual ship model NCVS, and acquiring a straight line path expected reference heading signal as follows:
specifically, when the top wind is sailing, the desired heading angle ψ of the NCVS r The actual wind direction ψ tw The region χ of the top wind 1 The three meet |psi tw -πsgn(ψ tw )-ψ r |<χ 1 . In the present embodiment, the sailing boat can turn along the planned arc-shaped route at each turning point during the course of travelling along the zigzag route. Referring to fig. 3, the unmanned sailing boat is at t 11 ,t 21 ,t 31 Respectively begin three turns at t 12 ,t 22 ,t 32 Finish steering, and the angle of the three steering is theta 1 ,θ 2 ,θ 3 The straight path desired reference heading signal is then obtained as follows:
ψ n (t)＝ψ tw -π·sgn(ψ tw )-c(t)·χ 1 (5)
wherein:. Phi n (t) represents a straight path desired reference heading signal; psi phi type tw Actual wind direction for NCVS; x-shaped articles 1 A top wind zone range for NCVS;wherein, psi is r The expected heading angle for NCVS is the expected heading angle of the non-crosswind virtual ship; d, d c1 Is a distance threshold, c (t) represents a symbol function introduced to achieve steering at the current point in time; c (t-1) represents a symbol function introduced to achieve steering at the last point in time; in particular, this embodiment is described taking three turns of the sailing boat as an example, and in actual sailing, the sailing boat makes four turns according to the method of the present invention, and more turns are all within the protection scope of the present invention.
Obtaining a reference heading angle psi of the unmanned sailing boat d Described as formula (6).
Wherein: psi phi type n Representing a linear path heading angle reference signal; θ 1 The first steering angle of the unmanned sailing boat is represented; θ 2 The angle of the second turn of the unmanned sailing boat is represented; θ 3 The angle of the third turn of the unmanned sailing boat is represented;t 11 the time for starting the first turning of the unmanned sailing boat is represented; t is t 12 The time of the first end of the unmanned sailing boat is represented; t is t 21 The time when the second turn of the unmanned sailing boat starts is represented; t is t 22 Indicating the time of the second end of the unmanned sailing boat; t is t 31 The time when the third turn of the unmanned sailing boat starts is represented; t is t 32 The third time of the unmanned sailing boat is finished;
specifically, based on the improved LVS guidance law, the problem that a reference heading signal of an unmanned sailing boat guidance structure is discontinuous can be solved, so that the unmanned sailing boat is guided by a guidance algorithm to carry out a path tracking control task under a time-varying wind direction.
S3: according to the nonlinear mathematical model of the unmanned sailing boat and the reference course angle psi of the unmanned sailing boat d Acquiring heading angle error psi of unmanned sailing boat e And derives it as follows; available (7)
S4: according to the heading angle error psi of the unmanned sailing boat e Establishing a course angle virtual controller to eliminate course angle errors:
preferably, in the step S4, the established course angle virtual controller is as follows:
wherein alpha is r Is a course angle virtual controller; k (k) r Is a positive design parameter;
s5: according to the course angle virtual controller, combining a dynamic surface control technology to obtain a heading direction dynamic error r e ；
To avoid the virtual controller from causing too complex computation in the derivation, a dynamic surface control technique is introduced, as in equation (9):
wherein: t is t r Representing a time constant; beta r A first order filtered signal representing the heading angle virtual controller;
β r (0) Representing an initial value of a filtered signal of the course angle virtual controller; alpha r (0) Representing an initial value of the course angle virtual control signal; y is r Is a filtering error formed when the virtual control signal of the heading angle passes through the filter.
Let the dynamic error r of the bow swing direction e ＝α r -r, combining the resulting filtered signals and deriving, yielding formula (10):
wherein f r (. Cndot.) represents a nonlinear term of an unmanned sailing ship heading model, and in the field of ship motion control, an online approximation is generally performed by adopting a radial basis function neural network; f (F) r (. Cndot.) represents the gain function of the steering engine actuator; d, d wr Representing a marine environment interference item in a bow direction;
s6: according to the dynamic error r of the bow swing direction e The method comprises the steps of establishing a trigger control law of rudder angles to obtain a control law and a self-adaptive law of an unmanned sailing ship:
uncertainties and external disturbances to unmanned sailing systems can lead to frequent buffeting of the closed loop system. In order to reduce the communication burden and the update frequency of the controller from the controller to the executor, a trigger control law of a dynamic event trigger mechanism, namely rudder angle, with a time-varying threshold is constructed in the design of the controller, and the threshold parameter of the mechanism can be dynamically adjusted.
In one embodiment of the invention, the trigger control law is the trigger control law of rudder angle, and the trigger control law of rudder angle is established as follows:
the time-varying rudder angle input signal is obtained as follows:
in delta r (t) represents a time-varying rudder angle input signal; delta r (t k ) A rudder angle input signal representing the current trigger point; t is t k Representing the current trigger point time; t is t k+1 Representing the next trigger point time;
the trigger control law of rudder angle is:
in the method, in the process of the invention,triggering error for rudder angle; />Rudder angle trigger threshold parameterh 1 Is the rudder angle dynamic threshold parameter, h 2 Is the rudder angle static threshold parameter,/>Is a rudder angle constant parameter;
the control law and the self-adaptive law of the unmanned sailing boat are as follows:
the control signals of the rudder angle actuator are obtained as follows:
in the method, in the process of the invention,a trigger range defining parameter indicating when the rudder angle input signal is equal to or greater than 0; />A trigger range defining parameter representing when the rudder angle input signal is less than 0; />Are all at [ -1,1]Is within the interval of (2);
obtaining control law delta of unmanned sailing boat r (t k ) And adaptive lawThe following are provided:
in delta r (t k ) The rudder angle control law of the unmanned sailing boat is adopted;is->Is a function of the estimated value of (2); />Representing rudder angle learning parameters; alpha N Representing an intermediate control law of the design; k (k) N Representing the controller parameters, k rn Representing a robust neural damping parameter, Z representing a robust neural damping term; />Is a first adaptive parameter greater than zero; sigma (sigma) N Is a second adaptive parameter greater than zero; />An initial value representing a learning parameter;
in another embodiment of the present invention, the trigger control law is a trigger control law of a sail angle, and the trigger control law of the sail angle is established as follows:
specific control of sail angleThe present embodiment also designs a dynamic event trigger controller. Final control input sail angle delta s ＝β ws -α s Wherein beta is ws Is the angle of view, alpha s Is the angle of attack of the sail. In engineering practice, the angle of attack α of the sail cannot be obtained directly s By adjusting the sail angle delta s To change alpha s Is a value of (2). It should be noted that the angle of attack α for calculating the sail s Is the apparent wind angle beta ws Is measured by a wind sensor. The more timely the sensor transmits the viewing angle information, the calculated alpha due to the real-time change of the wind direction and the speed change s The more accurate. Which is also a major limitation to ensure the accuracy of the heave motion control.
For sail angle control, a dynamic event triggering mechanism is constructed, the sail angle threshold parameters of which can be dynamically adjusted. The sail angle trigger control input may be described as equation (15).
The time-varying sail angle input signal is obtained as follows:
wherein t is k ，t k+1 Respectively representing the current trigger point time and the next trigger point time.
The firing control law of the sail angle is:
in the sail angle triggering threshold parameterι 1 Is the dynamic threshold parameter of the sail angle, iota 2 Is a static threshold parameter of sail angle,>is a sail angle constant parameter.
The same path tracking task is completed through the algorithm and the comparison algorithm of the embodiment, so that the advantages and the effectiveness of the invention can be verified. The superiority of the proposed dynamic event triggering mechanism can also be verified by comparing the results. At the same time, environmental interference is considered an unavoidable factor. In practical ocean engineering, environmental disturbances have randomness and uncertainty.
Fig. 4 shows a path trace between a control algorithm and a comparison algorithm as proposed by the present invention. The time-varying wind direction is set in the whole sailing process to form two sailing areas of the sailing boat, namely a crosswind area and a non-crosswind area. The comparison result shows that the control algorithm provided by the invention has better performance. In the path tracking task, the sailing boat is able to achieve effective control along the reference path. When sailing in non-crosswind areas, a more rational zig-zag course can be achieved by improved LVS guidance. Particularly in the turning area, better tracking results can be shown, and a smooth circular arc track can be generated near the waypoint.
For the sake of experimental integrity and result validity, time-varying wind directions are considered based on the path of the waypoints, forming crosswind and non-crosswind regions. The change in wind direction throughout the process can be expressed as shown in equation (17).
Fig. 5 shows a comparison of the control inputs, fig. 5 (a) depicts the control inputs for rudder angles, fig. 5 (b) the control inputs for sail angles, and the partial detail of the drawing shows the superiority of the proposed algorithm in an enlarged manner. Furthermore, when the event triggering rule is satisfied, the control command will remain unchanged. Therefore, the communication burden can be reduced, and system buffeting caused by low-frequency external interference is avoided. In marine engineering, control instructions should be transmitted to an executing mechanism, and the executing mechanism can realize the control instructions through a servo system. In fig. 5, the dash-dot line indicates the control command generated by the designed controller, the dashed line indicates the actual input of the steering engine servo system, and the solid line indicates the control command of the comparison algorithm. The result shows that under the dynamic event trigger control mechanism provided by the invention, unnecessary resource consumption is avoided. Compared with a robust self-adaptive event trigger control algorithm in a comparison algorithm, the proposed dynamic event trigger mechanism reduces frequent transmission more effectively. Fig. 6 and 7 clearly show the firing intervals of rudder and sail angles using the proposed dynamic event firing mechanism.
Fig. 8 shows a variation curve of the drift angle. Fig. 9 shows the control output of the unmanned sailing boat (fig. 9 (a): heading angle, fig. 9 (b): roll angle, fig. 9 (c): yaw rate). Notably, the roll angle φ is within a reasonable range, which may improve the safety and stability of the closed-loop control system.
The invention provides an unmanned sailing boat dynamic event triggering control method based on improved LVS guidance, which aims at an unmanned sailing boat (Unmanned sailboat robot) to execute a path tracking task based on waypoints under the consideration of time-varying wind direction, can plan reference signals in real time for crosswind sailing and non-crosswind sailing, designs an unmanned sailing boat dynamic event triggering robust self-adaptive controller, introduces a dynamic event triggering technology in the design process of the controller, and realizes that the unmanned sailing boat executes the path tracking task under the time-varying wind direction.
The unmanned sailing boat dynamic event triggering control method based on improved LVS guidance in the embodiment is provided by taking the time-varying marine environment into consideration. The unmanned sailing boat is capable of performing waypoint-based path tracking control tasks in the presence of random wind directions and varying reference paths. In the vicinity of the waypoints, the sailing vessel can navigate along the planned smooth arcuate path. This can prevent the sailing boat from losing control due to sudden changes in heading. The unmanned sailing boat can effectively execute the path tracking control task under the time-varying wind direction. The dynamic event triggering mechanism is designed for the unmanned sailing boat by considering unnecessary transmission load of the unmanned sailing boat in actual sailing. The dynamic event triggering technology can reduce the frequent buffeting phenomenon of the control input caused by external disturbance, and improves the robustness of the control algorithm. In the proposed event trigger control, the threshold parameters can be dynamically adjusted according to dynamic rules, so that the problems of redundant channel occupation and the like are effectively solved. Meanwhile, a more accurate control effect can be obtained through asynchronous triggering of the sail angle and the rudder angle.
The effectiveness and feasibility of unmanned sailing boat path tracking control of the control algorithm in the time-varying wind direction are verified through numerical simulation. Simulation results show that the communication burden from the controller to the actuator is reduced due to the advantages of the dynamic event triggering mechanism. The algorithm has obvious advantages in the aspects of improving transmission efficiency and avoiding unnecessary energy loss.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (9)
1. The unmanned sailing boat dynamic event triggering control method based on improved LVS guidance is characterized by comprising the following steps of:
s1: establishing a nonlinear mathematical model of the unmanned sailing boat;
s2: obtaining an improved LVS guidance law to obtain a reference heading angle ψ of an unmanned sailing vessel d ；
S3: according to the nonlinear mathematical model of the unmanned sailing boat and the reference course angle psi of the unmanned sailing boat d Acquiring heading angle error psi of unmanned sailing boat e ；
S4: according to the heading angle error psi of the unmanned sailing boat e Establishing a course angle virtual controller;
s5: acquiring a heading direction dynamic error r according to the course angle virtual controller e ；
S6: according to the dynamic error r of the bow swing direction e Establishing a trigger control law, acquiring the control law and the self-adaptive law of the unmanned sailing boat,to control the unmanned sailing boat; the trigger control law comprises a rudder angle trigger control law and a sail angle trigger control law.
2. The method for controlling dynamic event triggering of an unmanned sailing boat based on improved LVS guidance according to claim 1, wherein in S1, a nonlinear mathematical model of the unmanned sailing boat is built as follows:
wherein eta represents the running state vector of the unmanned sailing boat under the geodetic coordinate system; wherein, eta= [ x, y, phi] T X represents the position abscissa of the unmanned sailing boat; y represents the ordinate of the position of the unmanned sailing boat; phi represents the transverse inclination angle of the unmanned sailing boat; psi represents the heading angle of the unmanned sailing boat;representing a derivative operation; j (η) represents the euler angular transformation matrix; />Representing the running state vector of the unmanned sailing boat under the attached body coordinate system; wherein u represents the speed of the unmanned sailing boat in the advancing direction under the attached coordinate system; v represents the speed of the unmanned sailing boat in the attached coordinate system; p represents the roll angular velocity of the unmanned sailing boat in the attached coordinate system; r represents the bow swing angular speed of the unmanned sailing boat under the attached body coordinate system; m is M -1 () An inverse matrix representing the additional mass; />Representing additional mass; />Representing model unknowns caused by sails, rudders, keels and hulls; g (η) represents the roll recovery moment at a given roll angle; d, d wi Representing the running state disturbance force/moment of the unmanned sailing boat under an attached body coordinate system caused by a marine environment, wherein i=u, v, p and r; τ= [ τ ] u ,0,τ r ] T Representing control input force/moment of unmanned sailing vessel, wherein τ u Representing the propulsive force provided by the sail τ r Representing the turning moment provided by the rudder; />Wherein m is the mass of the unmanned sailing boat, m u Representing the forward direction hull add-on mass; m is m v Representing the additional mass of the ship body in the transverse floating direction; m is m p Representing the added mass of the hull in roll direction; m is m r Representing the additional mass of the ship body in the bow direction; />Indicating that the advancing direction is attached with a quality coefficient,represents the additional mass coefficient of the horizontal drift direction, +.>Representing the additional mass coefficient in roll direction, +.>Representing the additional mass coefficient of the bow swing direction; i xx Adding moment of inertia to the x-axis direction, I zz Adding moment of inertia to the z-axis direction; g (φ) =mgGM t sin(φ)cos(φ)，GM t Representing the primary stability height; g represents gravitational acceleration; />Hull indicating forward directionA structure uncertainty item;representing a cross-drift direction hull structure uncertainty term; />Representing roll direction hull structure uncertainty term; />Representing the uncertainty item of the ship body structure in the bow direction.
3. The unmanned sailing boat dynamic event triggering control method based on improved LVS guidance according to claim 1, wherein in S2, the method for acquiring the improved LVS guidance law is as follows:
obtaining a reference course angle psi from a real ship in a crosswind area to a crosswind virtual ship v The following are provided:
wherein x is e ＝x r2 -x 2 The horizontal coordinate position error from the real ship to the crosswind virtual ship; y is e ＝y r2 -y 2 Is the ordinate position error, x of a real ship to a crosswind virtual ship r2 The position abscissa of the crosswind virtual ship; x is x 2 The horizontal coordinate of the real ship position; y is r2 Is the position ordinate of the crosswind virtual ship; y is 2 Is the ordinate of the position of the real ship;
the nonlinear mathematical model of the unmanned sailing boat is simplified, and then,
ψ d ＝ψ v (4)
wherein: psi phi type d Representing a reference heading angle of the unmanned sailing boat;
introducing a non-crosswind virtual ship model NCVS, and acquiring a straight line path expected reference heading signal as follows:
ψ n (t)＝ψ tw -π·sgn(ψ tw )-c(t)·χ 1 (5)
wherein:. Phi n (t) represents a straight path desired reference heading signal; psi phi type tw Actual wind direction for NCVS; x-shaped articles 1 A top wind zone range for NCVS; c (t) represents a symbol function introduced to realize steering at the current point in time, wherein,ψ r desired heading angle for NCVS; d, d c1 Is a distance threshold; c (t-1) represents a symbol function introduced to achieve steering at the last point in time;
obtaining a reference heading angle psi of the unmanned sailing boat d The following are provided:
wherein: psi phi type n Representing a linear path heading angle reference signal; θ 1 The first steering angle of the unmanned sailing boat is represented; θ 2 The angle of the second turn of the unmanned sailing boat is represented; θ 3 The angle of the third turn of the unmanned sailing boat is represented; t is t 11 The time for starting the first turning of the unmanned sailing boat is represented; t is t 12 The time of the first end of the unmanned sailing boat is represented; t is t 21 The time when the second turn of the unmanned sailing boat starts is represented; t is t 22 Indicating the time of the second end of the unmanned sailing boat; t is t 31 The time when the third turn of the unmanned sailing boat starts is represented; t is t 32 Indicating the time at which the unmanned sailing boat has finished for the third time.
4. The method for dynamic event-triggered control of an unmanned sailing vessel based on improved LVS guidance according to claim 1, wherein in S3, the heading angle error ψ of the unmanned sailing vessel is obtained e The method comprises the following steps:
5. the method for controlling dynamic event triggering of an unmanned sailing boat based on improved LVS guidance according to claim 1, wherein in S4, the virtual controller of the heading angle is set up as follows:
wherein alpha is r Is a course angle virtual controller; k (k) r Is a positive design parameter.
6. An unmanned sailing boat dynamic event-triggered control method based on improved LVS guidance as claimed in claim 1, wherein in S5, a yaw direction dynamics error r is obtained e The method comprises the following steps:
wherein: t is t r Representing a time constant; beta r A first order filtered signal representing the heading angle virtual controller; beta r (0) Representing an initial value of a filtered signal of the course angle virtual controller; alpha r (0) Representing an initial value of the course angle virtual control signal; y is r A filtering error formed when the virtual control signal of the course angle passes through the filter;
let the dynamic error r of the bow swing direction e ＝α r -r, get
Wherein f r (. Cndot.) represents the nonlinear term of the unmanned sailing ship heading model; f (F) r (. Cndot.) represents the gain function of the steering engine actuator; d, d wr Representing the bowThe sea environment disturbance term is swayed.
7. The unmanned sailing boat dynamic event trigger control method based on improved LVS guidance according to claim 1, wherein in S6, the trigger control law of rudder angle is established as follows:
acquiring a time-varying rudder angle input signal:
in delta r (t) represents a time-varying rudder angle input signal; delta r (t k ) A rudder angle input signal representing the current trigger point; t is t k Representing the current trigger point time; t is t k+1 Representing the next trigger point time;
the triggering control law of the rudder angle is as follows:
in the method, in the process of the invention,triggering error for rudder angle; /> Triggering threshold parameters for rudder angleh 1 Is the rudder angle dynamic threshold parameter, h 2 Is the rudder angle static threshold parameter,/>Is the rudder angle constant parameter。
8. The method for controlling dynamic event triggering of an unmanned sailing boat based on improved LVS guidance according to claim 1, wherein in S6, the method for acquiring the control law and the adaptive law of the unmanned sailing boat is as follows:
the control signals of the rudder angle actuator are obtained as follows:
in the method, in the process of the invention,a trigger range defining parameter indicating when the rudder angle input signal is equal to or greater than 0; />A trigger range defining parameter representing when the rudder angle input signal is less than 0;
obtaining control law delta of unmanned sailing boat r (t k ) And adaptive lawThe following are provided:
in delta r (t k ) The rudder angle control law of the unmanned sailing boat is adopted;is->Is a function of the estimated value of (2); />Representing rudder angle learning parameters; alpha N Representing an intermediate control law of the design; k (k) N Representing the controller parameters, k rn Representing a robust neural damping parameter, Z representing a robust neural damping term; />Is a first adaptive parameter greater than zero; sigma (sigma) N Is a second adaptive parameter greater than zero; />Representing the initial value of the learning parameter.
9. The method for controlling dynamic event triggering of an unmanned sailing vessel based on improved LVS guidance according to claim 1, wherein in S6, the control law of triggering of the sailing angle is established as follows:
in delta s (t) represents a time-varying sail angle input signal; delta s (t k ) A sail angle input signal representing a current trigger point; t is t k Representing the current trigger point time; t is t k+1 Representing the next trigger point time;
the firing control law of the sail angle is as follows:
in the sail angle triggering threshold parameterι 1 Is the dynamic threshold parameter of the sail angle, iota 2 Is a static threshold parameter of sail angle,>is a sail angle constant parameter.
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