CN117763717A - Mworks-based ship path tracking control simulation system and method - Google Patents
Mworks-based ship path tracking control simulation system and method Download PDFInfo
- Publication number
- CN117763717A CN117763717A CN202311653000.7A CN202311653000A CN117763717A CN 117763717 A CN117763717 A CN 117763717A CN 202311653000 A CN202311653000 A CN 202311653000A CN 117763717 A CN117763717 A CN 117763717A
- Authority
- CN
- China
- Prior art keywords
- ship
- path
- control module
- speed
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004088 simulation Methods 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 42
- 238000004364 calculation method Methods 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 8
- 238000004590 computer program Methods 0.000 claims description 4
- 230000007613 environmental effect Effects 0.000 claims description 4
- 230000008713 feedback mechanism Effects 0.000 claims description 4
- 230000004044 response Effects 0.000 claims description 4
- 238000009825 accumulation Methods 0.000 claims description 3
- 230000010355 oscillation Effects 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The invention discloses a ship path tracking control simulation system and method based on Mworks, and belongs to the technical field of ship path tracking control simulation. The ship path tracking control simulation system based on the Mworks comprises a path tracking control module, a course control module, a speed control module and a power control module, wherein the path tracking control module is connected with the course control module and the speed control module, and the course control module and the speed control module are connected with the power control module. The invention aims to build a ship path tracking control simulation system based on an Mworks platform, calculates an output control instruction by adopting an intelligent switching guidance algorithm of an LOS/ILOS controller, can accurately complete a ship path tracking control task through the execution of a simulation module, and has remarkable beneficial effects: 1) The precise tracking and stable sailing of the ship on a given path can be realized; 2) Can adapt to different navigation scenes and operation requirements.
Description
Technical Field
The invention relates to a ship path tracking control simulation system and method based on Mworks, and belongs to the technical field of ship path tracking control simulation.
Background
With the continuous progress of ship technology and the increase of global shipping demands, the maritime traffic is more and more dense, and higher requirements are put forward on the motion control of ships for guaranteeing the navigation safety. In ocean going, in order to reduce the work intensity of rudder, shorten the sailing distance and reduce the fuel consumption, the course or track of the ship must be precisely controlled. Meanwhile, for some special operations, stricter requirements are put forward on the heading accuracy. Therefore, research on ship navigation path tracking and course control has important significance in theory and practice. The ship path tracking control is a key factor in realizing autonomous navigation and safe navigation of the ship.
Because the experimental cost is higher, the simulation system is established as a common technical approach, the time can be effectively shortened, and the cost is reduced. The patents currently relevant to the present invention mainly include: 1) "Ship track control method based on improved LOS guiding algorithm" (CN 106950955A), the invention obtains real-time actual track information of the ship according to the ship navigation module; if the deviation between the actual track and the planned path exceeds the acceptable deviation, the expected course is calculated through an improved LOS guiding algorithm until the track deviation is within the acceptable range, which is different from the technical route adopted by the invention. 2) The invention provides a ship course tracking control method (CN 112068550A), which is different from the control method of the invention in that a target path and a target heading are generated according to ship self state information and target positions through an LOS navigation algorithm. 3) The invention provides a novel ultra-large under-actuated ship path tracking prediction LOS guidance method (CN 116859933A), which is remarkably different from the object-oriented method.
Disclosure of Invention
The invention provides a ship path tracking control simulation system and method based on Mworks for solving the problems existing in the prior art.
The ship path tracking control simulation system based on the Mworks comprises a path tracking control module, a course control module, a speed control module and a power control module, wherein the path tracking control module is connected with the course control module and the speed control module, and the course control module and the speed control module are connected with the power control module.
Further, the path tracking control module is used for acquiring ship position information and outputting course angle adjustment information and speed adjustment information;
the course control module is used for receiving the course angle adjustment information, obtaining course error calculation and outputting a corresponding rudder angle or steering engine control instruction;
the speed control module is used for receiving the speed adjustment information and outputting corresponding steering angular speed and ship speed control instructions;
the power control module is used for receiving rudder angle or steering engine control instructions and steering angle speed and ship speed control instructions output by the course control module and the speed control module, and converting instruction signals into actual driving force so as to adjust the motion state of the ship.
Further, the path tracking control module comprises a cross tracking error path controller, an LOS/ILOS controller and a Linear quadric controller, wherein the cross tracking error path controller, the LOS/ILOS controller and the Linear quadric controller are connected in sequence,
the cross tracking error path controller is used for calculating the cross tracking error of the current ship and the expected path and sending the cross tracking error information of the ship and the expected path to the LOS/ILOS controller;
the LOS/ILOS controller is used for converting the cross tracking error of the current ship and the expected path into control information;
the Linear quadric controller is used for adjusting and correcting the course angle of the ship so as to optimize the control information.
Further, the course control module comprises a nonlinear PID controller and a course driving controller, wherein,
the nonlinear PID controller is used for dynamically adjusting proportional gain and integral gain according to the system state and the requirement by adopting a dynamic gain adjustment strategy;
the course driving controller is used for controlling the rotation angle of the steering engine according to the error signal, converting the rotation angle into a rudder angle and then transmitting a corresponding rudder angle or steering engine control instruction to the power control module.
Further, the speed control module comprises a course angular speed controller and a course speed controller, wherein,
the course angular velocity controller is used for adjusting the steering velocity of the ship, realizing the expected course angular variation and the stability of the ship attitude, simultaneously monitoring the course angular velocity variation in real time, feeding information back to the path tracking control module, and forming a closed loop feedback mechanism;
the navigation speed controller is used for controlling the speed of the ship to achieve the expected navigation speed, acquiring the expected navigation speed from the path tracking control module and transmitting the adjustment information to the ship power control module.
The ship path tracking control simulation method based on the Mworks comprises the following steps of:
s100, acquiring current state parameters of the ship, wherein the state parameters comprise speed, position and angular speed, and acquiring a preset expected path, expected speed and a target point;
s200, calculating the cross tracking error of the current ship and the expected path by using a cross tracking error path controller, and adjusting the output instruction of a path tracking control module according to the output instruction of the cross tracking error path controller so that the ship runs along the expected path;
s300, calculating and outputting a control instruction by using an LOS/ILOS controller intelligent switching guidance algorithm so as to adjust the course angular speed of the ship and the stability of the ship attitude;
s400, receiving speed adjustment information output by the path tracking control module by using the speed control module so as to control the speed of the ship;
s500, receiving control instructions output by the course control module and the speed control module by using the power control module, converting instruction signals into actual pushing force, and adjusting the motion state of the ship;
s600, using a simulation result analysis module to simulate and display the motion state of the ship.
Further, in S200, the cross tracking error path calculation based on the waypoint includes the steps of:
step 210, firstly, acquiring the current position and heading of the ship and the position information of the next target waypoint;
220, determining the shortest distance between the actual track of the ship and the target route point;
step 230, obtaining the ship position and course angle through the navigation device, calculating the cross tracking error according to the preset target waypoint, and setting the longitude and latitude coordinates of the two waypoints as (x) 1 ,y 1 ) And (x) 2 ,y 2 ) And longitude and latitude coordinates (x, y) of the current position of the ship, the function returns the transverse distance y e The cross tracking error is expressed by a north east coordinate system:
y e ＝-(x-x1)*sin(pi p )+(y-y1)*cos(pi p ) Wherein pi is p Is the track direction angle, i.e. the angle of the path relative to the north-right direction;
and 240, controlling the speed and the steering rate of the ship, and adjusting the running track of the ship so that the ship reaches the target waypoint as soon as possible and runs according to a preset route.
Further, in S300, the method includes the following steps:
s310, acquiring two or more target waypoints, selecting an LOS/ILOS algorithm according to navigation conditions and ship task types, and selecting the LOS algorithm if the target waypoints are simple tasks such as straight waypoints; if the high-speed and curved path task is selected, an ILOS algorithm is selected, wherein the high-speed and curved path task comprises a turning around, a narrow-curve waypoint and a sharp-curve waypoint;
s320, selecting a proper predicted point and adjusting the heading angle state according to the predicted point, so as to realize smoother path tracking, and adopting a predicted point selection strategy to predict the future position of the ship in advance, wherein the predicted points of the LOS algorithm and the ILOS algorithm are different in selection:
in the LOS algorithm, a predicted point selects a point in front of a certain distance of a target point along a desired path; in the ILOS algorithm, the predicted point performs motion calculation aiming at a three-degree-of-freedom ship model based on a dynamic model and motion information of a ship body, and meanwhile, the system adopts a strategy of selecting the nearest predicted point preferentially so as to improve the path tracking precision of the system and adapt to speed change;
s330, according to different navigation conditions and environmental requirements, the speed of instruction output is adjusted so as to avoid system oscillation caused by too high speed and system response retardation caused by too low speed.
Further, in S320,
the specific algorithm of the ILOS comprises the following steps:
s321, calculating deviation epsilon of a target point to an expected path and distance r between the target point and the ship according to coordinates (xt, yt) of the target point in a plane rectangular coordinate system, an expected path direction thetad and positions (x, y) of the ship:
ε＝(xt-x)*sin(θd)-(yt-y)*cos(θd)
r＝sqrt((xt-x) 2 +(yt-y) 2 )；
s322, calculating a sight line error gamma:
s323, calculating a rudder angle delta and a thrust T which need to be adjusted according to the implementation error gamma:
δ＝Kp*γ+Kd*(γ-γ last )
T＝Kv*(Vd-V)
where Kp and Kd are the gains of the proportional and derivative controllers, γ last Is the last calculated line of sight error, kv is the gain of the speed controller;
s324, according to the distance error y of the ship in the north east coordinate system e And course angle chi, calculate lateral error velocity Dy e And a transverse integral error speed Dy int ：
Dy e ＝U*sin(chi-pi p )
Wherein pi is p For the included angle between the tangent angle of the path and the north axis, U is the ship speed, delta is the positive look-ahead distance, and is used for controlling the track deviation, kappa is the positive integral gain constant, y int Integrating error of the distance of the vertical line for eliminating deviation accumulation;
s325, calculating course angle chi d And the course angle change rateAnd returns by way of outgoing parameters:
chi d ＝π p -artan(K p *y e +K i *y int )
wherein the proportional and integral gain parametersKi＝kappa*Kp。
A storage medium having a computer program stored thereon, the computer program, when executed by a processor, implementing an mwork-based ship path tracking control simulation method as described above.
The invention has the beneficial effects that: 1) The precise tracking and stable sailing of the ship on a given path can be realized; 2) Can adapt to different navigation scenes and operation requirements.
Drawings
FIG. 1 is a block diagram of a ship path tracking control system based on Mworks;
FIG. 2 is a control flow diagram of the LOS/ILOS controller.
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.
Referring to fig. 1-2, the invention aims to provide a ship path tracking control simulation system based on Mworks. The ship path tracking control simulation system based on the Mworks can calculate and output a control instruction through an algorithm according to the ship state parameters and the initial set path data, and can accurately complete a ship path tracking task through the execution of a simulation module.
(1) The invention relates to a ship path tracking control simulation system based on Mworks, which is characterized by comprising the following specific characteristics: the system is divided into four modules, namely a path tracking control module, a course control module, a speed control module and a power control module.
(1.1) the path tracking control module includes three controllers, respectively: cross tracking error path controller, LOS/ILOS controller, linear quadric controller. The module is responsible for acquiring ship position information, so that the ship can accurately navigate according to a specified path, and calculates and processes a path tracking error.
The path tracking control module (1.1) specifically further includes the following features:
and (1.1.1) the path tracking control module acquires the current state of the ship, such as the current position, the current angular speed and the like of the ship, and acquires a preset expected path, an expected speed and a target point.
(1.1.2) the cross-tracking error path controller is primarily operative to continuously calculate a cross-tracking error of the current vessel with the desired path, the error being used to adjust the output instructions of the path tracking control module to cause the vessel to travel along the desired trajectory.
The aforementioned cross-track error path controller specific features further comprise a waypoint-based cross-track error path controller.
The traditional cross tracking error path controller directly evaluates the path tracking performance of the ship according to the deviation between the current position of the ship and the expected path, and focuses on the accuracy of the path tracking state of the ship rather than the deviation degree.
To solve this problem, the present invention devised and proposed a waypoint-based cross tracking error path controller that focuses more on the degree of positional deviation of a ship on a specific course. And calculating an error path between the current position of the ship and the waypoint through a predefined target point or a key point on the path, so as to evaluate the deviation between the current position of the ship and the expected path and improve the accuracy of the calculation of the cross tracking error path.
Specifically, the cross tracking error path calculation based on the waypoints consists of steps 1-4.
Step 1, the controller firstly obtains the current position and heading of the ship and the position information of the next target waypoint.
And 2, determining the shortest distance between the actual track of the ship and the target waypoint.
And step 3, acquiring the ship position and the course angle through navigation equipment such as a GPS, a compass and the like, and calculating a cross tracking error according to a preset target navigation point. Let the longitude and latitude coordinates of two waypoints be (x) 1 ,y 1 ) And (x) 2 ,y 2 ) And longitude and latitude coordinates (x, y) of the current position of the ship, the function returns the transverse distance y e The cross tracking error is expressed by a north east coordinate system:
y e ＝-(x-x1)*sin(pi p )+(y-y1)*cos(pi p ) Wherein pi is p Is the track direction angle, i.e. the angle of the path relative to the north direction.
And 4, considering and controlling the speed and the steering rate of the ship, and adjusting the running track of the ship so that the ship can reach the target route point as soon as possible and run according to a preset route.
(1.1.3) the LOS/ILOS controller receives the course and course angular velocity errors output by the cross tracking error path controller, and calculates the course and the course angular velocity errors through an LOS/ILOS algorithm to form control information.
Traditional ship course and path tracking control methods based on LOS algorithm or ILOS algorithm are widely used, but the two methods have advantages and disadvantages in different environments. The existing LOS algorithm can be used as a basis of a ship path tracking control system, is relatively simple to realize, and has better execution effect than the ILOS algorithm in simple tasks such as straight-line waypoints; the ILOS steering rate has greater stability and accuracy, especially at high speeds and in curved paths.
To solve this problem, the present invention proposes an LOS/ILOS controller that combines LOS algorithm and ILOS algorithm. According to different ship task types, sailing conditions and environmental requirements, the controller can conduct intelligent decision of a path tracking algorithm and control of instruction information speed.
Specifically, the LOS/ILOS controller adopts a feedback-based controller structure and consists of the following steps 1-3:
step 1, obtaining two or more target waypoints, selecting an LOS/ILOS algorithm according to navigation conditions and ship task types, and selecting the LOS algorithm if the target waypoints are simple tasks such as straight waypoints; and if the tasks of high speed and curved path such as turning around, narrow turning waypoints, sharp turning waypoints and the like are performed, selecting an ILOS algorithm.
And 2, selecting proper predicted points and adjusting the heading angle state accordingly to realize smoother path tracking. The controller adopts a prediction point selection strategy to predict the future position of the ship in advance. The prediction points of the LOS algorithm and the ILOS algorithm are selected differently.
In the LOS algorithm, a predicted point selects a point in front of a certain distance of a target point along a desired path; in the ILOS algorithm, the predicted point performs motion calculation based on the kinetic model and the motion information of the hull for the three degrees of freedom ship model. Meanwhile, the system adopts a strategy of selecting the nearest predicted point preferentially so as to improve the path tracking precision of the system and adapt to the speed change.
And 3, adjusting the speed of command output according to different navigation conditions and environmental requirements so as to avoid system oscillation caused by too high speed and system response retardation caused by too low speed.
The specific features of the ILOS algorithm in the foregoing (1.1.3) further include:
proportional-integral (PI) control is introduced to improve heading angle adjustment, and PI control is utilized to improve stability and tamper resistance of the system. The ILOS algorithm calculates rudder angle, thrust and expected course angle chi to be adjusted according to the current state, target point and the like of the ship d And heading angle change rate omega chid Etc. control information. ILOS navigation rate also improves navigation accuracy through inertial navigation devices such as gyroscopes and accelerometers. The specific algorithm of ILOS is composed of steps 1-5:
step 1: calculating the deviation epsilon of the target point to the expected path and the distance r between the target point and the ship according to the coordinates (xt, yt) of the target point in the plane rectangular coordinate system, the expected path direction thetad and the position (x, y) of the ship:
ε＝(xt-x)*sin(θd)-(yt-y)*cos(θd)
r＝sqrt((xt-x) 2 +(yt-y) 2 )
step 2: calculating a sight line error gamma:
step 3: according to the implementation error gamma, calculating a rudder angle delta and a thrust T which need to be adjusted:
δ＝Kp*γ+Kd*(γ-γ last )
T＝Kv*(Vd-V)
where Kp and Kd are the gains of the proportional and derivative controllers, γ last Is the line of sight error calculated last timeKv is the gain of the speed controller;
step 4: according to the distance error y of the ship in the north east coordinate system e And course angle chi, calculate lateral error velocity Dy e And a transverse integral error speed Dy int ：
Dy e ＝U*sin(chi-pi p )
Wherein pi is p For the included angle between the tangent angle of the path and the north axis, U is the ship speed, delta is the positive look-ahead distance, and is used for controlling the track deviation, kappa is the positive integral gain constant, y int Is the integral error of the vertical distance and is used for eliminating the accumulation of deviation.
Step 5: calculating heading angle chi d And the course angle change rateAnd returns by way of outgoing parameters:
chi d ＝π p -artan(K p *y e +K i *y int )
wherein the proportional and integral gain parametersKi＝kappa*Kp。
And (1.1.4) the Linear quadric controller is used for adjusting and correcting the course angle of the ship, receiving the output result of the LOS/ILOS controller, minimizing the difference between the output and the expected output through a secondary performance index, and optimizing the control method of the output result of the LOS/ILOS controller.
The heading control module (1.2) comprises two controllers, namely: a nonlinear PID controller and a heading driving controller. The module is responsible for receiving the course control instruction, calculating and outputting a corresponding rudder angle or steering engine control signal according to the course error.
The specific features of the heading control module (1.2) further include:
(1.2.1) the course control module receives the course angle adjustment information output by the path tracking control module.
(1.2.2) the nonlinear PID controller introduces nonlinear elements and adjusts gain to improve the performance and adaptability of conventional PID control, thereby better adapting to the actual sailing environment.
The nonlinear PID control adopts a dynamic gain adjustment strategy, and the proportional gain and the integral gain are dynamically adjusted according to the system state and the requirement, so that the controller has different response characteristics under different working requirements, and the system performance is improved.
And (1.2.3) the course driving controller is designed based on nonlinear PID control, the rotation angle of the steering engine is controlled according to an error signal, the steering engine converts the rotation angle into a rudder angle, and a steering engine driver transmits a signal to a power control system.
(1.3) the speed control module includes two controllers, respectively: a course angular velocity controller and a navigation velocity controller. The speed control module is responsible for receiving the speed control instruction and controlling the navigation speed of the ship.
The specific features of the speed control module (1.3) further include:
(1.3.1) the speed control module receiving the speed adjustment information output by the path tracking control module.
(1.3.2) the course angular velocity controller is for adjusting the steering velocity of the ship, achieving desired course angular variation and stabilization of the ship attitude. The course angular speed control is realized by adopting a closed-loop feedback mechanism. The course angular velocity controller adopts a PI control strategy according to the course angular velocity error signal, generates a control signal, transmits the control signal to the ship power control module, and can convert the control signal into actual rotation thrust so as to adjust the motion state of the ship. Meanwhile, the course angular velocity controller monitors the course angular velocity change in real time and feeds information back to the path tracking control module to form a closed-loop feedback mechanism.
(1.3.3) the cruise control is for controlling the speed of the vessel to achieve a desired cruise speed. The cruise speed controller relies on an accurate positioning and navigation system and obtains the desired cruise speed from the path tracking control module and communicates adjustment information to the vessel power control module.
And (1.4) the power control module is responsible for adjusting the motion state of the ship, storing the ship state vector and solving the state equation of the ship. The power control module receives control instructions output by the course control module and the speed control module and converts instruction signals into actual driving force so as to adjust the motion state of the ship.
The invention aims to build a ship path tracking control simulation system based on an Mworks platform, calculates an output control instruction by adopting an intelligent switching guidance algorithm of an LOS/ILOS controller, and can accurately complete a ship path tracking control task through the execution of a simulation module. Has obvious beneficial effects: 1) The precise tracking and stable sailing of the ship on a given path can be realized; 2) Can adapt to different navigation scenes and operation requirements.
Claims (10)
1. The ship path tracking control simulation system based on the Mworks is characterized by comprising a path tracking control module, a course control module, a speed control module and a power control module, wherein the path tracking control module is connected with the course control module and the speed control module, and the course control module and the speed control module are connected with the power control module.
2. The Mworks-based ship path tracking control simulation system according to claim 1, wherein,
the path tracking control module is used for acquiring ship position information and outputting course angle adjustment information and speed adjustment information;
the course control module is used for receiving the course angle adjustment information, obtaining course error calculation and outputting a corresponding rudder angle or steering engine control instruction;
the speed control module is used for receiving the speed adjustment information and outputting corresponding steering angular speed and ship speed control instructions;
the power control module is used for receiving rudder angle or steering engine control instructions and steering angle speed and ship speed control instructions output by the course control module and the speed control module, and converting instruction signals into actual driving force so as to adjust the motion state of the ship.
3. The Mworks-based ship path tracking control simulation system according to claim 2, wherein the path tracking control module comprises a cross tracking error path controller, an LOS/ILOS controller and a Linear quadric controller, which are sequentially connected, wherein,
the cross tracking error path controller is used for calculating the cross tracking error of the current ship and the expected path and sending the cross tracking error information of the ship and the expected path to the LOS/ILOS controller;
the LOS/ILOS controller is used for converting the cross tracking error of the current ship and the expected path into control information;
the Linear quadric controller is used for adjusting and correcting the course angle of the ship so as to optimize the control information.
4. The system for simulation of path tracking control of a ship based on mforts as claimed in claim 3, wherein said heading control module comprises a nonlinear PID controller and a heading pilot controller, wherein,
the nonlinear PID controller is used for dynamically adjusting proportional gain and integral gain according to the system state and the requirement by adopting a dynamic gain adjustment strategy;
the course driving controller is used for controlling the rotation angle of the steering engine according to the error signal, converting the rotation angle into a rudder angle and then transmitting a corresponding rudder angle or steering engine control instruction to the power control module.
5. The system for simulation of path-following control of a ship based on mforts as claimed in claim 4, wherein said speed control module comprises a heading angle speed controller and a navigation speed controller, wherein,
the course angular velocity controller is used for adjusting the steering velocity of the ship, realizing the expected course angular variation and the stability of the ship attitude, simultaneously monitoring the course angular velocity variation in real time, feeding information back to the path tracking control module, and forming a closed loop feedback mechanism;
the navigation speed controller is used for controlling the speed of the ship to achieve the expected navigation speed, acquiring the expected navigation speed from the path tracking control module and transmitting the adjustment information to the ship power control module.
6. An mracks-based ship path tracking control simulation method, based on the mracks-based ship path tracking control simulation system according to any one of claims 1 to 5, characterized in that the mracks-based ship path tracking control simulation method comprises the following steps:
s100, acquiring current state parameters of the ship, wherein the state parameters comprise speed, position and angular speed, and acquiring a preset expected path, expected speed and a target point;
s200, calculating the cross tracking error of the current ship and the expected path by using a cross tracking error path controller, and adjusting the output instruction of a path tracking control module according to the output instruction of the cross tracking error path controller so that the ship runs along the expected path;
s300, calculating and outputting a control instruction by using an LOS/ILOS controller intelligent switching guidance algorithm so as to adjust the course angular speed of the ship and the stability of the ship attitude;
s400, receiving speed adjustment information output by the path tracking control module by using the speed control module so as to control the speed of the ship;
s500, receiving control instructions output by the course control module and the speed control module by using the power control module, converting instruction signals into actual pushing force, and adjusting the motion state of the ship;
s600, using a simulation result analysis module to simulate and display the motion state of the ship.
7. The method for simulation of path-tracking control of a ship based on mforks according to claim 6, wherein in S200, the calculation of the cross-tracking error path based on the waypoint comprises the steps of:
step 210, firstly, acquiring the current position and heading of the ship and the position information of the next target waypoint;
220, determining the shortest distance between the actual track of the ship and the target route point;
step 230, obtaining the ship position and course angle through the navigation device, calculating the cross tracking error according to the preset target waypoint, and setting the longitude and latitude coordinates of the two waypoints as (x) 1 ,y 1 ) And (x) 2 ,y 2 ) And longitude and latitude coordinates (x, y) of the current position of the ship, the function returns the transverse distance y e The cross tracking error is expressed by a north east coordinate system:
y e ＝-(x-x1)*sin(pi p )+(y-y1)*cos(pi p ) Wherein pi is p Is the track direction angle, i.e. the angle of the path relative to the north-right direction;
and 240, controlling the speed and the steering rate of the ship, and adjusting the running track of the ship so that the ship reaches the target waypoint as soon as possible and runs according to a preset route.
8. The method for simulating path-following control of a ship based on mforks according to claim 7, wherein in S300, the method comprises the steps of:
s310, acquiring two or more target waypoints, selecting an LOS/ILOS algorithm according to navigation conditions and ship task types, and selecting the LOS algorithm if the target waypoints are simple tasks such as straight waypoints; if the high-speed and curved path task is selected, an ILOS algorithm is selected, wherein the high-speed and curved path task comprises a turning around, a narrow-curve waypoint and a sharp-curve waypoint;
s320, selecting a proper predicted point and adjusting the heading angle state according to the predicted point, so as to realize smoother path tracking, and adopting a predicted point selection strategy to predict the future position of the ship in advance, wherein the predicted points of the LOS algorithm and the ILOS algorithm are different in selection:
in the LOS algorithm, a predicted point selects a point in front of a certain distance of a target point along a desired path; in the ILOS algorithm, the predicted point performs motion calculation aiming at a three-degree-of-freedom ship model based on a dynamic model and motion information of a ship body, and meanwhile, the system adopts a strategy of selecting the nearest predicted point preferentially so as to improve the path tracking precision of the system and adapt to speed change;
s330, according to different navigation conditions and environmental requirements, the speed of instruction output is adjusted so as to avoid system oscillation caused by too high speed and system response retardation caused by too low speed.
9. The ship path-following control simulation method based on mforks according to claim 7, wherein, in S320,
the specific algorithm of the ILOS comprises the following steps:
s321, calculating deviation epsilon of a target point to an expected path and distance r between the target point and the ship according to coordinates (xt, yt) of the target point in a plane rectangular coordinate system, an expected path direction thetad and positions (x, y) of the ship:
ε＝(xt-x)*sin(θd)-(yt-y)*cos(θd)
r＝sqrt((xt-x) 2 +(yt-y) 2 )；
s322, calculating a sight line error gamma:
s323, calculating a rudder angle delta and a thrust T which need to be adjusted according to the implementation error gamma:
δ＝Kp*γ+Kd*(γ-γ last )
T＝Kv*(Vd-V)
where Kp and Kd are the gains of the proportional and derivative controllers, γ last Is the last calculated line of sight error, kv is the gain of the speed controller;
s324, according to the distance error y of the ship in the north east coordinate system e And course angle chi, calculate lateral error velocity Dy e And a transverse integral error speed Dy int ：
Dy e ＝U*sin(chi-pi p )
Wherein pi is p For the included angle between the tangent angle of the path and the north axis, U is the ship speed, delta is the positive look-ahead distance, and is used for controlling the track deviation, kappa is the positive integral gain constant, y int Integrating error of the distance of the vertical line for eliminating deviation accumulation;
s325, calculating course angle chi d And the course angle change rateAnd returns by way of outgoing parameters:
chi d ＝π p -artan(K p *y e +K i *y int )
wherein the proportional and integral gain parametersKi＝kappa*Kp。
10. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a method for controlling simulation of path tracking of a ship based on mforks as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311653000.7A CN117763717A (en) | 2023-12-05 | 2023-12-05 | Mworks-based ship path tracking control simulation system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311653000.7A CN117763717A (en) | 2023-12-05 | 2023-12-05 | Mworks-based ship path tracking control simulation system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117763717A true CN117763717A (en) | 2024-03-26 |
Family
ID=90313505
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311653000.7A Pending CN117763717A (en) | 2023-12-05 | 2023-12-05 | Mworks-based ship path tracking control simulation system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117763717A (en) |
-
2023
- 2023-12-05 CN CN202311653000.7A patent/CN117763717A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8265812B2 (en) | System and method for a marine vessel autopilot | |
| CN111487966B (en) | Self-adaptive path tracking control method for unmanned surface vehicle based on waypoints | |
| JP5042906B2 (en) | Ship automatic steering system | |
| EP1365301A2 (en) | Method and system for maneuvering a movable object | |
| WO2021230356A1 (en) | Method for autonomously guiding vessel, program for autonomously guiding vessel, system for autonomously guiding vessel, and vessel | |
| CN104950882A (en) | Global consistent asymptotic type path tracking guiding control method | |
| CN113126644B (en) | Unmanned aerial vehicle three-dimensional track tracking method based on adaptive line-of-sight method | |
| CN105573340B (en) | A kind of flight control method of fixed-wing unmanned plane anti-side wind | |
| CN113625702B (en) | Unmanned vehicle simultaneous path tracking and obstacle avoidance method based on quadratic programming | |
| Zhao et al. | Broken lines path following algorithm for a water-jet propulsion USV with disturbance uncertainties | |
| US20090069962A1 (en) | Guidance of marine vessels | |
| CN111026135B (en) | High-performance sailing feedforward control system and control method for unmanned ship | |
| CN113126492B (en) | Automatic path tracking method for dynamic positioning ship | |
| CN108958252B (en) | Power buoy track control method based on track deviation distance | |
| Elkaim et al. | Station keeping and segmented trajectory control of a wind-propelled autonomous catamaran | |
| CN112180915A (en) | ROS-based double-thrust unmanned ship motion control system and control method | |
| CN113296505A (en) | Unmanned ship multi-mode path tracking control method based on speed change LOS | |
| CN112486168A (en) | Mobile docking track planning method based on revolution circle | |
| CN117763717A (en) | Mworks-based ship path tracking control simulation system and method | |
| CN116339314A (en) | Under-actuated unmanned ship track tracking control method based on self-adaptive sliding mode | |
| JP2008213682A (en) | Automatic steering device for vessel | |
| CN114035567A (en) | Unmanned surface vehicle navigation control system | |
| CN115562266A (en) | Unmanned ship track control method based on variable parameter line-of-sight method and storage medium | |
| CN113359737A (en) | Ship formation self-adaptive event trigger control method considering formation expansion | |
| CN112068550A (en) | Ship course tracking control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |