CN111506086A - Improved L OS guide law and fuzzy PID combined unmanned ship path tracking control method - Google Patents
Improved L OS guide law and fuzzy PID combined unmanned ship path tracking control method Download PDFInfo
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Abstract
The invention discloses a control method for unmanned ship path tracking, which belongs to the field of unmanned ship motion control, and the invention provides a control method combining an improved L OS guide law with a fuzzy PID to realize unmanned ship path tracking control, wherein the unmanned ship path tracking control system is divided into a guidance subsystem and a control subsystem, the guidance subsystem adopts an improved L OS guide law, and increases a variable speed control law into a variable foresight distance L OS guide law to simultaneously provide a desired course and a desired navigational speed so as to realize the navigational speed self-tuning of an unmanned ship in the path tracking process and reduce the navigational speed influence.
Description
Technical Field
The invention relates to the field of unmanned ship motion control, in particular to an improved L OS guide law combined fuzzy PID unmanned ship path tracking control method.
Background
With the rapid development of unmanned ships, the unmanned ships need to improve the accuracy and rapidity of path tracking control to ensure good offshore autonomous operation capability and navigation safety. However, the complex sea environment seriously influences the unmanned ship path tracking control effect, and in addition, the unmanned ship control system has the characteristics of nonlinearity, model uncertainty, input constraint and the like, and the control difficulty is increased to a certain extent.
The existing control technology generally optimizes and improves a controller aiming at environmental disturbance and the control characteristics of an unmanned ship, and aims to improve the robustness of the controller and improve the unmanned ship path tracking control effect under the marine environmental disturbance. However, the method ignores the influence of the navigational speed on the path tracking control of the unmanned ship and has the defects of complex controller design, low engineering practicability and the like
Disclosure of Invention
The unmanned ship path tracking control method comprises the steps of improving L OS guiding law and combining fuzzy PID, reducing influence of navigational speed on path tracking by improving L OS guiding law on the basis of considering influence of navigational speed of an unmanned ship on path tracking control, comprehensively considering adaptability and practicability of disturbance to marine environment, designing a fuzzy PID controller, and realizing unmanned ship path tracking under mutual cooperation of L OS guiding law and the fuzzy PID controller.
The invention adopts the specific technical scheme that:
the unmanned ship path tracking control is divided into two parts, namely a guiding layer and a control layer, an improved L OS guiding law is adopted in the guiding layer, a variable speed control law is added on the basis of a variable forward-looking distance L OS guiding law, and the improved L OS guiding law can adjust a desired course and a desired speed according to the geometric relation between the position of the unmanned ship and the desired path in the unmanned ship path tracking process, so that the influence of the speed on the unmanned ship path tracking is reduced, and the flexibility and the stability of the guiding law are improved.
A course speed controller of the unmanned ship is designed by adopting a fuzzy PID at a control layer, and a fuzzy PID control algorithm is combined with a PID control algorithm, so that PID parameter self-tuning can be realized according to deviation and a deviation change rate, expected speed and expected course given by a tracking guidance layer of the unmanned ship are controlled more quickly and accurately, and the unmanned ship is ensured to run along an expected path.
Compared with the prior art, the invention considers the influence of the navigational speed on the unmanned ship path tracking control, further increases a reasonable and feasible variable speed control law on the basis of the current variable foresight distance L OS guidance law, improves the rapidity and the stability of path tracking, designs the unmanned ship course and the navigational speed controller by adopting a fuzzy PID control method, takes the practicability and the good robustness into consideration, reduces the influence of the navigational speed of the unmanned ship on the path tracking, improves the path tracking precision of the unmanned ship and lays a good foundation for the autonomous operation of the unmanned ship under the matching of the improved L OS guidance law and the fuzzy PID controller.
Drawings
FIG. 1 is a control schematic of the present invention;
FIG. 2 is an L OS boot law diagram;
FIG. 3 is a fuzzy PID control schematic;
FIG. 4 is a schematic diagram of a fuzzy controller design;
FIG. 5 is a diagram of a simulation result of unmanned ship path tracking;
FIG. 6 is a diagram of comparison simulation results of unmanned ship PID and fuzzy PID course tracking controllers;
FIG. 7 is a graph of the variation of self-tuning PID parameters under fuzzy rules
Detailed Description
The invention discloses an unmanned ship path tracking control method combining improved L OS guiding law with fuzzy PID, belonging to the field of unmanned ship motion control.
The present invention will become more apparent from the following description, taken in conjunction with the accompanying drawings, wherein are set forth, by way of illustration, specific embodiments of the present invention, and the like.
Fig. 1 is a block diagram of the overall control principle of the present invention, and the specific implementation steps are as follows:
step 101, inputting an expected path which is set manually by a control system, then acquiring actual position information (x, y) of the unmanned ship by a GPS (global positioning system) arranged on the unmanned ship, and obtaining an expected speed u capable of enabling the unmanned ship to track the path after the actual position information (x, y) is solved by an improved L OS (operating system) guidance lawdAnd a desired heading
Step 102: obtaining a desired speed udAnd a desired heading
Then, the actual navigational speed u and the actual course of the unmanned ship are obtained by utilizing a sensing system equipped for the unmanned ship
And comparing the two to obtain a navigational speed error and a course error. And then, carrying out corresponding regulation action by using a fuzzy PID controller according to the error, and controlling the actual values of the course and the navigational speed of the unmanned ship to be consistent with the expected values, thereby realizing the unmanned ship path tracking control.
Fig. 2 is a L OS boot rule diagram of the present invention, which includes the following steps:
step 201: according to the position (x, y) of the unmanned ship, the forward-looking distance delta and the path point (x) of the located sectionk,yk)、(xk+1,yk+1) Solving for desired heading of unmanned ship through L OS guidance law
Step 201.1, calculating the included angle α between the current expected path (D) of the unmanned ship and the due north direction (Y axis), wherein the calculation formula is as follows:
step 201.2: calculating the actual position (x, y) and the path point (x) of the unmanned shipk+1,yk+1) The included angle β between the straight line and the north direction is calculated as follows:
step 201.3: calculating the actual position (x, y) and the path point (x) of the unmanned shipk+1,yk+1) The distance d between them, the calculation formula is as follows:
step 201.4: calculating the tracking error y between the unmanned ship and the expected patheThe calculation formula is as follows:
ye＝d*sin(α-β) (4)
step 201.5, a foresight distance change law in an OS guide law is designed L, because the foresight distance Delta influences the speed of path tracking convergence to a certain extent, in order to improve the control effect of path tracking, the foresight distance Delta is designed as follows, when the unmanned ship deviates from the path with larger error, the foresight distance is expected to be smaller at the moment, so that the unmanned ship can quickly return to the expected path, as the tracking error is gradually reduced, the foresight distance at the moment is expected to be larger, the expected path can be smoothly tracked, and overshoot and oscillation are reduced.
In the formula, k is a constant parameter strictly greater than zero; deltaminIs the minimum value of the look-ahead distance Δ; deltacThe maximum increment of the look-ahead distance.
Step 201.6: calculating an expected heading of an unmanned ship
The calculation formula is as follows:
step 202: aiming at the influence of navigational speed on path tracking control, a variable speed control law is provided according to adjacent expected path points (x)k,yk) And (x)k+1,yk+1) Length D betweenkAnd the actual position (x, y) of the unmanned ship is away from the next path point (x)k+1,yk+1) The unmanned ship speed change control law is designed on the basis of the L OS guide law, and the basic form of the control law is shown as the following formula:
wherein d is the distance between the actual position of the unmanned ship and the next expected path point; dkIs the distance between the current waypoint and the previous waypoint; to adjust the factors, the speed control law can be adjusted to achieve a better control effect. Along with the unmanned ship gradually approaches to the next path point, the speed of the unmanned ship can be automatically adjusted according to the distance from the next path point under the action of the variable speed control law: the closer to the point of the path the more,
the closer the speed is to the lowest navigational speed; the further away from the path point is,
the closer to the maximum speed.
Step 203: the expected path point of the current unmanned ship is Pk＝(xk+1,yk+1) To put into effectThe turning is smoother, and the switching radius of the path point is designed, namely when the unmanned ship enters the expected path point PkWhen the distance is within a certain range, the tracking of the expected path point is automatically abandoned, and the tracking is shifted to the next expected path point. The conditions for this determination are as follows:
(xk+1-x)2+(yk+1-y)2≤R0 2(8)
FIG. 3 is a schematic diagram of the design of a fuzzy PID controller of the invention, which comprises the following steps:
step 301: and determining an initial PID parameter through simulation or a real ship test, and performing injection experience accumulation in the parameter adjusting process to finally obtain a group of PID parameters capable of preliminarily realizing the control requirement.
Step 302: FIG. 4 is a flow chart of designing a fuzzy controller, wherein the controller inputs an error e and an error change rate ec, and outputs a change delta k of a PID parameter after fuzzification, fuzzy reasoning and clarificationp、Δki、Δkd
Step 301.1: the variables are fuzzified by first determining the fundamental domains of error e and error rate of change ec, then converting the amount of sharpness in the fundamental domains into the fuzzy domains represented in fuzzy language by quantization factors, and defining respective membership functions for each fuzzy language variable.
Step 301.2: and (3) carrying out fuzzy mathematic reasoning operation on the fuzzified variables, wherein a fuzzy rule is the core of fuzzy reasoning, and the fuzzy rule is formulated according to experience in the operation process. Here according to kp、ki、kdAnd the relation between the error e and the error change rate ec defines the following fuzzy rule:
TABLE 1.Δ kpFuzzy setting rule
TABLE 2.Δ kiFuzzy setting rule
TABLE 3.Δ kdFuzzy setting rule
Step 302.3: PID parameter variation delta k is obtained through fuzzy reasoningp、Δki、ΔkdThe membership degree in the ambiguity domain is clarified to complete the conversion from the ambiguity domain to the basic domain, so as to obtain an accurate delta kp、Δki、Δkd。
Step 303: the ratio (K) is then calculated according to the error e (t) at the current timep+ΔKp) Integral (K)i+ΔKi) Differential (K)d+ΔKd) To obtain the output u (t) of the fuzzy PID controller
Fig. 5-7 are simulation result diagrams of unmanned ship path tracking control performed according to the invention, fig. 5 verifies the effectiveness of the unmanned ship path tracking control method combining the improved L OS guide law with fuzzy PID, and has the advantages of small overshoot and high tracking precision, fig. 6 further illustrates the effectiveness of the fuzzy PID controller by comparing with the PID course controller, the fuzzy PID is superior to the PID control, the overshoot is smaller, the adjusting time is shorter, and fig. 7 reflects that the fuzzy PID controller can adjust PID parameters timely according to the change of errors, thereby optimizing the control effect under the disturbance of complex environment.
According to the process, the unmanned ship path tracking control method combining the improved L OS guiding law with the fuzzy PID can solve the proper expected course and the expected speed according to the improved L OS guiding law, then realize the tracking of the unmanned ship to the expected value through the fuzzy PID course speed controller, and further complete the path tracking control.
Claims (6)
1. An improved L OS guide law and fuzzy PID combined unmanned ship path tracking control method is characterized in that an unmanned ship path tracking control system is divided into a guidance subsystem and a control subsystem, the guidance subsystem adopts an improved L OS guide law, a variable speed control law is added to a variable foresight distance L OS guide law, an expected course and an expected speed are provided at the same time, so that the speed self-tuning of an unmanned ship in the path tracking process is realized, the influence of the speed is further reduced, in consideration of a complex and changeable marine environment, a control layer adopts fuzzy PID to design a course speed controller, the adaptivity and the robustness of the controller are improved, the accurate tracking control of the expected course and the expected speed is realized, and the unmanned ship is effectively kept on an expected path.
2. The improved L OS guidance law unmanned ship path tracking control method combined with fuzzy PID as claimed in claim 1, wherein the desired path of the unmanned ship is composed of a series of waypoints in geodetic coordinate system, the unmanned ship path tracking requires USV to reach the desired path from any departure point and to navigate along the desired path with the smallest tracking error at the desired speed, and the desired tracking control target is formulated as follows:
in the formula, yeThe transverse error between the unmanned ship and the expected path under the ship body coordinate system is obtained;
is the desired heading angle; u. ofdThe desired speed is the longitudinal direction of the unmanned ship.
3. The improved L OS guidance law and fuzzy PID combined unmanned ship path tracking control method according to claim 1, wherein firstly, aiming at the contradiction between rapidity and stability existing in the traditional L OS guidance law, a foresight distance variation law is designed, so that the foresight distance can be adjusted according to the tracking error of an unmanned ship, the adaptivity of the L OS guidance law is improved, secondly, the speed variation law is increased on the basis of the variable foresight distance L OS guidance law, the speed is divided into a fixed part and a variable part, the speed self-tuning capability is increased, and the influence of the speed on the unmanned ship path tracking control is reduced.
4. The improved L OS guidance law combined with fuzzy PID unmanned ship path tracking control method according to claim 3, wherein a variable speed control law is designed and divided into a fixed navigational speed part and a variable navigational speed part to realize a navigational speed self-tuning function of the unmanned ship in the path tracking process, thereby reducing the influence of the navigational speed on the path tracking control and improving the path tracking accuracy and quality, the variable speed control law is formulated as follows:
ud＝u1+u2μ(d) (2)
in the formula: u. ofdRepresenting the desired longitudinal speed, u, of the unmanned ship1Representing a fixed minimum speed; u. of2A maximum value representing a variable speed portion; μ (d) is an adjustment factor, ranging between (0,1), for adjusting the variable speed portion.
5. The design of the adjustment factor μ (d) in the variable speed control law according to claim 4, characterized in that: when the unmanned ship approaches the next expected path point, the speed is reduced to reduce the overshoot during steering and complete smooth steering control; and when the maximum navigational speed is kept between two path points, the rapidity of path tracking is improved, the Sigmoid function is adopted to determine mu (d) according to the requirements, and the formula is expressed as follows:
in the formula, d is the distance between the actual position of the unmanned ship and the next path point; dkBetween adjacent desired path pointsA distance; is a regulatory factor.
6. The unmanned ship path tracking control method based on the improved L OS guidance law according to claim 1, wherein a fuzzy PID course speed controller is designed, and a fuzzy rule is formulated according to PID parameter setting experience, so that PID parameters have self-setting capability, thereby improving the rapidity of the controller and the robustness to environmental disturbance.
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| CN112835369A (en) * | 2021-01-08 | 2021-05-25 | 中国石油大学(华东) | Unmanned ship speed change curve path tracking control method based on ESO (electronic stability evaluation) drift angle estimation |
| CN112947494A (en) * | 2021-04-22 | 2021-06-11 | 中国船舶重工集团公司第七0七研究所九江分部 | Fuzzy PID (proportion integration differentiation) -based automatic ship berthing control method |
| CN113359710A (en) * | 2021-05-21 | 2021-09-07 | 江苏大学 | LOS theory-based agricultural machinery path tracking method |
| CN113960998A (en) * | 2021-06-10 | 2022-01-21 | 北京航天控制仪器研究所 | Unmanned ship fuzzy prediction control system and method |
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| CN112346465A (en) * | 2020-11-27 | 2021-02-09 | 哈尔滨工程大学 | IALOS guide law-based adaptive fuzzy control method for under-actuated unmanned ship |
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| CN112346465B (en) * | 2020-11-27 | 2022-09-02 | 哈尔滨工程大学 | IALOS guide law-based adaptive fuzzy control method for under-actuated unmanned ship |
| CN112835369A (en) * | 2021-01-08 | 2021-05-25 | 中国石油大学(华东) | Unmanned ship speed change curve path tracking control method based on ESO (electronic stability evaluation) drift angle estimation |
| CN112947494A (en) * | 2021-04-22 | 2021-06-11 | 中国船舶重工集团公司第七0七研究所九江分部 | Fuzzy PID (proportion integration differentiation) -based automatic ship berthing control method |
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| CN113359710B (en) * | 2021-05-21 | 2022-11-18 | 江苏大学 | LOS theory-based agricultural machinery path tracking method |
| CN113960998A (en) * | 2021-06-10 | 2022-01-21 | 北京航天控制仪器研究所 | Unmanned ship fuzzy prediction control system and method |
| CN113960998B (en) * | 2021-06-10 | 2023-07-14 | 航天时代(青岛)海洋装备科技发展有限公司 | Unmanned ship fuzzy prediction control system and method |
| CN116520834A (en) * | 2023-04-24 | 2023-08-01 | 安徽建筑大学 | Low-energy-consumption unmanned ship cruising method |
| CN116520834B (en) * | 2023-04-24 | 2024-05-28 | 安徽建筑大学 | Low-energy-consumption unmanned ship cruising method |
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