CN106708068A - Bionic undulating fin-propelled underwater vehicle path tracking control method - Google Patents
Bionic undulating fin-propelled underwater vehicle path tracking control method Download PDFInfo
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Abstract
The invention discloses a bionic undulating fin-propelled underwater vehicle path tracking control method. The method includes the following steps that: the real-time position and heading of a bionic undulating fin-propelled underwater are acquired; the line-of-sight point required to be tracked currently and an expected heading angle of the bionic undulating fin-propelled underwater are calculated according to the current position and expected tracking path of the bionic undulating fin-propelled underwater; a back-stepping method is adopted to design the dynamics control law of the bionic undulating fin-propelled underwater vehicle according to the current position, the heading and the line-of-sight point of the bionic undulating fin-propelled underwater vehicle; the control quantities of long fins at two sides are obtained based on the mapping relations of established dynamics control quantities which are established based on fuzzy reasoning and undulating fin control parameters of the bionic undulating fin-propelled underwater vehicle; and real-time navigation control on the bionic undulating fin-propelled underwater vehicle is performed according to the control quantities of the long fins at the two sides. With the bionic undulating fin-propelled underwater vehicle path tracking control method of the invention provided by the embodiments of the present invention adopted, the bionic undulating fin-propelled underwater vehicle can be made to accurately perform underwater path tracking.
Description
Technical field
The present invention relates to bionics technical field, more particularly, to a kind of bionical fluctuation fin propulsion submarine navigation device path with
Track control method.
Background technology
At present, Autonomous Underwater Vehicle has been widely used in the fields such as ocean and military affairs, such as marine organisms observation, water
Lower resource exploration, marine military attack etc..With to aspects such as submarine navigation device mobility, stability, antijamming capability, noises
Requirement more and more higher, using fluctuation fin advance bionic underwater vehicle gradually paid close attention to by researcher and engineer.
Nearly ten years, researcher devises various fluctuation fin propulsion submarine navigation devices.Early in, Britain He Ruiwa in 2001
Especially big devises a kind of fin drive device long.2012, Nanyang Technolohy University have developed a kind of bionic machine devil ray.2013
Year, Northwest University imitates hairtail long and have developed a kind of bionic long-fin driven machine fish.But most of the above researcher lay particular emphasis on
Fluctuate the control of fin, the less accurate motion control of consideration submarine navigation device, and this is often for the reality of bionic underwater vehicle
Border is using particularly significant.The main cause for causing drawbacks described above be probably fluctuation fin propulsion submarine navigation device be a multivariable,
Non-linear, close coupling under-actuated systems, it is difficult to set up accurate system's model, it is more difficult to realize accurate closed loop location control.
The target of path following control is ROV is moved along the space tracking of advance planning.For submarine navigation device
Path trace problem, domestic and foreign scholars also have carried out some research work.Such as Aguiar etc. uses Lyapunov direct method
A kind of nonlinear adaptive path point tracking control unit is devised with backstepping, simulation result shows that the controller can be controlled
Drive lacking submarine navigation device is moved along the path being made up of specified path point.Wang Hongjian etc. is straight for drive lacking submarine navigation device
Thread path tracking control problem, path trace error model is established based on virtual guide, is designed using feedback oscillator Backstepping
Path following control device.Zhang Guoqing etc. devises one and simplifies adaptive with Backstepping for drive lacking naval vessel path trace problem
Answering ANN Control framework, and carried out numerical simulation proves the validity of the framework.Although appeal document is in path trace
All achieve ideal result in control, but most methods rely on accurate Mathematical Modeling, but submarine navigation device, especially
It is that fluctuation fin advances the mathematical models of submarine navigation device to be often difficult to obtain in practice, and this results in controller to mould
Shape parameter is uncertain and external disturbance adaptability is not enough, so that tracking accuracy is not high, and rarer researcher will carry
In the system to reality of the path tracking control method application for going out, main cause is probably the uncertain of underwater environment and answers
Polygamy.It is pointed out that the submarine navigation device that bionical fluctuation fin propulsion submarine navigation device drives with traditional dependence propeller
Drive pattern exist very big difference, it is necessary to be directed to its special design path tracking.
In view of this, it is special to propose the present invention.
The content of the invention
In order to solve above mentioned problem of the prior art, it has been how solution makes bionical fluctuation fin propulsion submarine navigation device
Accurately realize the technical problem of path trace under water, there is provided a kind of bionical fluctuation fin propulsion submarine navigation device path following control
Method.
To achieve these goals, there is provided following technical scheme：
A kind of bionical fluctuation fin propulsion submarine navigation device path tracking control method, the method includes：
It is determined that expecting track path；
Gather the bionical propulsion of fluctuation the fin real-time position of submarine navigation device and course；
The current location of submarine navigation device is advanced according to bionical fluctuation fin and track path is expected, bionical fluctuation fin is calculated and is pushed away
Enter sight line point and desired course angle that submarine navigation device is currently needed for tracking；
Submarine navigation device current location, course and sight line point are advanced according to bionical fluctuation fin, designs bionical using Backstepping
The dynamics Controlling rule of fluctuation fin propulsion submarine navigation device；
Dynamics Controlling amount and bionical fluctuation fin propulsion submarine navigation device fluctuation fin control parameter are set up based on fuzzy reasoning
Between mapping relations, obtain both sides fin controlled quentity controlled variable long；
Real-time navigation control, realizing route are carried out to bionical fluctuation fin propulsion submarine navigation device according to both sides fin controlled quentity controlled variable long
Tracing control.
Preferably, it is determined that expecting that track path is specifically included：
Determined to expect track path according to following formula：
Ω (s)=[xd(s), yd(s)]T
Wherein, Ω (s) is represented and is expected track path；S represents the arc length for expecting track path；xd(s)、ydS () represents and expects
The coordinate put on track path.
Preferably, the current location of submarine navigation device is advanced according to bionical fluctuation fin and track path is expected, is calculated bionical
Fluctuation fin propulsion submarine navigation device is currently needed for sight line point and the desired course angle of tracking, specifically includes：
Submarine navigation device current location is advanced to determine sight line point according to bionical fluctuation fin；
Bionical fluctuation fin propulsion submarine navigation device current location is pointed to the vectorial deflection of sight line point, is defined as first
Desired course angle；
Compensated using line-of-sight navigation system, obtain the second expectation course angle, and expect course angle as imitative using second
Raw fluctuation fin advances the desired course angle of submarine navigation device.
Preferably, submarine navigation device current location is advanced to determine that sight line point is specifically included according to bionical fluctuation fin：
If bionical fluctuation fin propulsion submarine navigation device is less than distance threshold with the distance for expecting track path, will expect with
The intersection point of track path Shang Geng front ends is defined as sight line point；
If bionical fluctuation fin propulsion submarine navigation device is more than or equal to distance threshold with the distance for expecting track path, will
Expect that the nearest point in the bionical fluctuation fin propulsion submarine navigation device current location of distance is defined as sight line point on track path.
Preferably, submarine navigation device current location, course and sight line point are advanced according to bionical fluctuation fin, is set using Backstepping
The dynamics Controlling rule of bionical fluctuation fin propulsion submarine navigation device is counted, is specifically included：
According to sight line point coordinates, following tracking error equation is set up：
Wherein, exyFor bionical fluctuation fin advances submarine navigation device and expects the horizontal range between track path；ψeIt is boat
To angular displacement；ψ represents course；ψDRepresent that second expects course angle；xd、ydRepresent the position of sight line point；X, y represent bionical respectively
Fluctuation fin advances the real time position of submarine navigation device；
According to tracking error equation, the kinematics model that following bionical fluctuation fin advances submarine navigation device is set up：
Wherein,Represent bionical fluctuation fin propulsion submarine navigation device and expect the horizontal range between track path；
Represent the derivative of heading angle deviation；U, v, r are expressed as the advance and retreat speed of bionical fluctuation fin propulsion submarine navigation device, sidesway speed
Degree and yaw rate；
According to kinematics model, kinematics tracing control rate is calculated：
Wherein, δ is an arbitrarily small normal number；N is any natural number；ψeIt is heading angle deviation；k1, k2For controller sets
Meter parameter, and meet k2＞ k1＞ 0；
According to kinematics tracing control rate, following dynamics Controlling rule is calculated：
Wherein, τu、τrDynamics Controlling amount, τ are represented respectivelyuRepresent advance and retreat direction propulsive force, τrRepresent yawing；ki(i
=1...4) controller design parameter is represented, and meet ki＞ 0, k2＞ k1＞ 0；Represent motion control tracing control
The derivative of rate parameter, wherein α1=k1(exy-δ)cosn(ψe), n takes positive integer,m11、
m22、m33Represent the element in the quality and additional mass diagonal of a matrix of bionical fluctuation fin propulsion submarine navigation device；d11、d33Table
Element on linear damping matrix diagonal；β1、β3Represent kinematic error amount, β1=u- α1, β3=r- α3。
It is preferably based on fuzzy reasoning and sets up dynamics Controlling amount and the propulsion submarine navigation device fluctuation fin control of bionical fluctuation fin
Mapping relations between parameter processed, obtain both sides fin controlled quentity controlled variable long, specifically include：
Dynamics Controlling amount and bionical fluctuation fin propulsion submarine navigation device fluctuation fin control parameter are set up based on fuzzy reasoning
Between mapping relations, and carry out obfuscation；Wherein, bionical fluctuation fin propulsion submarine navigation device fluctuation fin control parameter includes a left side
Side Chang Qiqi faces wave frequency rate, right side fin fin face wave frequency rate, long, fin face wave amplitude and adjacent fin ray phase difference；
Set up fuzzy rule base；
According to advance and retreat direction propulsive force, yawing after fuzzy rule base and obfuscation, and a left side is obtained using minimum method
Right fin vibration frequency, fin face wave amplitude, the fuzzy control quantity of adjacent fin ray phase difference；
According to fuzzy control quantity, ambiguity solution computing is carried out using weighted mean method, obtain both sides fin controlled quentity controlled variable long.
It is preferably based on fuzzy reasoning and sets up dynamics Controlling amount and the propulsion submarine navigation device fluctuation fin control of bionical fluctuation fin
Mapping relations between parameter processed, and obfuscation is carried out, specifically include：
It is determined that advance and retreat direction propulsive force, yawing, left and right fin vibration frequency, fin face wave amplitude and adjacent fin ray phase difference
Domain；
Selection fuzzy language subset and Triangleshape grade of membership function, so as to carry out obfuscation.
The embodiment of the present invention provides a kind of bionical fluctuation fin propulsion submarine navigation device path tracking control method.The method bag
Include：It is determined that expecting track path；Gather the bionical propulsion of fluctuation the fin real-time position of submarine navigation device and course；According to bionical fluctuation
The current location of fin propulsion submarine navigation device and expectation track path, calculate bionical fluctuation fin propulsion submarine navigation device and are currently needed for
The sight line point of tracking and desired course angle；Submarine navigation device current location, course and sight line point are advanced according to bionical fluctuation fin,
The dynamics Controlling for designing bionical fluctuation fin propulsion submarine navigation device using Backstepping is restrained；Dynamics control is set up based on fuzzy reasoning
Mapping relations between amount processed and bionical fluctuation fin propulsion submarine navigation device fluctuation fin control parameter, obtain both sides fin control long
Amount；Real-time navigation control, realizing route tracking are carried out to bionical fluctuation fin propulsion submarine navigation device according to both sides fin controlled quentity controlled variable long
Control.By using above-mentioned technical proposal, how the embodiment of the present invention makes bionical fluctuation fin propulsion submarine navigation device essence if being solved
The technical problem of path trace under water really is realized, bionical fluctuation fin propulsion submarine navigation device sub-aqua sport control essence is improve
Degree, improves the precision of path trace, also shortens the redundancy voyage that bionical fluctuation fin advances submarine navigation device.
Brief description of the drawings
Fig. 1 is to advance the structure of submarine navigation device path following control device to show according to the bionical fluctuation fin of the embodiment of the present invention
It is intended to；
Fig. 2 is the flow that submarine navigation device path tracking control method is advanced according to the bionical fluctuation fin of the embodiment of the present invention
Schematic diagram；
Fig. 3 is the line-of-sight navigation system operating diagram according to the embodiment of the present invention；
Fig. 4 is propulsive force and yawing based on fuzzy reasoning-traveling wave parameter mapping mould according to the embodiment of the present invention
Type operating diagram；
Fig. 5 is to advance submarine navigation device straight line path tracking schematic diagram according to the bionical fluctuation fin of the embodiment of the present invention；
Fig. 6 is to advance submarine navigation device straight line path pursuit path to illustrate according to the bionical fluctuation fin of the embodiment of the present invention
Figure；
Fig. 7 is to advance submarine navigation device straight line path tracking error curve to show according to the bionical fluctuation fin of the embodiment of the present invention
It is intended to；
Fig. 8 is to advance submarine navigation device circle path trace schematic diagram according to the bionical fluctuation fin of the embodiment of the present invention；
Fig. 9 is to advance submarine navigation device circle path trace track schematic diagram according to the bionical fluctuation fin of the embodiment of the present invention；
Figure 10 is to advance submarine navigation device circle path trace error curve to show according to the bionical fluctuation fin of the embodiment of the present invention
It is intended to.
Specific embodiment
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little implementation methods are used only for explaining know-why of the invention, it is not intended that limit the scope of the invention.
Method provided in an embodiment of the present invention is based on bionical fluctuation fin and advances submarine navigation device path following control device.Fig. 1
Schematically illustrate the structure that bionical fluctuation fin advances submarine navigation device path following control device.As shown in figure 1, the controller
Mainly include：Line-of-sight navigation service system, Backstepping controller and the parameter mapped system based on fuzzy reasoning.Wherein, sight line
It is real-time that navigation system reception expects that track path and bionical fluctuation fin propulsion submarine navigation device (RobCutt-II) feedback are come
Position (x, y), then sight line point is exported to Backstepping controller；Backstepping controller also receives RobCutt-II feedbacks to be come
Real time position and course information, export advance and retreat direction propulsive force and yawing, and output this to based on fuzzy reasoning
Parameter mapped system；Parameter mapped system based on fuzzy reasoning carries out processing backward RobCutt-II outputs left side fin fin face long
Wave frequency rate, right side fin fin face wave frequency rate, long, fin face wave amplitude and adjacent fin ray phase difference.
The embodiment of the present invention provides a kind of bionical fluctuation fin propulsion submarine navigation device path tracking control method.Such as Fig. 2 institutes
Show, the method can include：
S1：It is determined that expecting track path.
The description of this step is given to expect track path parametrization equation.Expect that track path can be planned in advance.
Specifically, this step can include：
Determined to expect track path according to following formula：
Ω (s)=[xd(s), yd(s)]T
Wherein, Ω (s) is represented and is expected track path；S represents the arc length for expecting track path；xd(s)、ydS () represents and expects
The coordinate put on track path.
Ω (s)=[xd(s), yd(s)]TIt is a scalar parameter to give expected path in the coordinate representation of fixed coordinate system
Function.
S2：Gather the bionical propulsion of fluctuation the fin real-time position of submarine navigation device and course.
In actual applications, this step can gather bionical fluctuation fin propulsion water by inertial navigation or overall Vision system
Lower ROV (RobCutt-II) real-time position (x, y), course ψ.
S3：The current location of submarine navigation device is advanced according to bionical fluctuation fin and track path is expected, bionical fluctuation is calculated
Fin propulsion submarine navigation device is currently needed for sight line point and the desired course angle of tracking.
Specifically, this step can include：
S31：Submarine navigation device current location is advanced to determine sight line point according to bionical fluctuation fin.
This step can further include：
S311：If bionical fluctuation fin propulsion submarine navigation device is less than distance threshold with the distance for expecting track path, will
Expect that the intersection point of more front end on track path is defined as sight line point；
S312：If bionical fluctuation fin propulsion submarine navigation device is more than or equal to apart from threshold with the distance for expecting track path
Value, then will expect that the nearest point in the bionical fluctuation fin propulsion submarine navigation device current location of distance is defined as sight line on track path
Point.
Fig. 3 schematically illustrates line-of-sight navigation system operating diagram.
For example, as shown in figure 3, the bionical fluctuation fin obtained in setting second step advances the real time position of submarine navigation device
Be p (x, y) that course is ψ, and exist with p (x, y) as the center of circle, radius is for the imaginary circles of γ ＞ 0 are associated therewith.If bionical fluctuation
Fin advances submarine navigation device to be less than γ with the distance for expecting track path Ω, then accompany with bionical fluctuation fin propulsion submarine navigation device
Imaginary circles can with expect track path intersect at two point p 'los, plos(xd, yd), now, sight line point is chosen for expecting tracking road
The intersection point p of footpath Shang Geng front endslos(xd, yd)；If bionical fluctuation fin propulsion submarine navigation device is more than with the distance for expecting track path
Or equal to γ, then advance the associated imaginary circles of submarine navigation device to intersect without intersection point or only with expectation track path with bionical fluctuation fin
In a bit, now sight line point is chosen for expecting on track path that the bionical fluctuation fin propulsion submarine navigation device current location of distance is nearest
Point.
S32：The vectorial deflection that sight line point is pointed in bionical fluctuation fin propulsion submarine navigation device current location is defined as
First expects course angle.
After sight line point determines, for control RobCutt-II is moved towards sight line point, can be by the first of RobCutt-II the expectation boat
To angle ψdIt is defined as being pointed to by RobCutt-II current locations the vectorial deflection of sight line point, i.e., first expects that course angle can be with
It is defined as：
Wherein, xe=x-xd, ye=y-yd；xdAnd ydRepresent the position of sight line point；Sgn () represents sign function, and sgn
(0)=1；ψdRepresent that first expects course angle；X, y represent the real time position of RobCutt-II.
S33：Compensated using line-of-sight navigation system, obtain the second expectation course angle, and expect that course angle is made by second
The desired course angle of submarine navigation device is advanced for bionical fluctuation fin.
To reduce tracking error when there is unknown flow-disturbing, the base of the first expectation course angle that this step is described in above formula
Compensation term is added on plinth.
For example, obtaining the second expectation course angle using line-of-sight navigation system according to following formula：
ψD=ψd+c0tanh(c1exy)·flr
Wherein, exyIt is the horizontal range between RobCutt-II and expectation track path；c0, c1It is adjustable parameter；flrFor
Sign function, the f when RobCutt-II is on the left of expectation track pathlr=1, the f when RobCutt-II is on expected pathlr
=0, when RobCutt-II is when expecting on the right side of track path, flr=-1；ψDRepresent that second expects course angle.
S4：Submarine navigation device current location, course and sight line point are advanced according to bionical fluctuation fin, it is imitative using Backstepping design
The dynamics Controlling rule of raw fluctuation fin propulsion submarine navigation device.
Specifically, this step can include：
S41：According to sight line point coordinates, following tracking error equation is set up：
Wherein, exyFor bionical fluctuation fin advances submarine navigation device and expects the horizontal range between track path；ψeIt is boat
To angular displacement；ψ represents course；ψDRepresent that second expects course angle.
S42：According to tracking error equation, the kinematics model that following bionical fluctuation fin advances submarine navigation device is set up：
Wherein,Represent leading for the horizontal range between bionical fluctuation fin propulsion submarine navigation device and expectation track path
Number；Represent the derivative of heading angle deviation；U, v, r be expressed as bionical fluctuation fin propulsion submarine navigation device advance and retreat speed,
Sidesway speed and yaw rate.
S43：According to kinematics model, kinematics tracing control rate is calculated：
Wherein, δ is an arbitrarily small normal number；N is any natural number；V is expressed as bionical fluctuation fin propulsion underwater navigation
The sidesway speed of device；ψeIt is heading angle deviation；k1, k2It is controller design parameter, and k need to be met2＞ k1＞ 0.
S45：According to kinematics tracing control rate, following dynamics Controlling rule is calculated：
Wherein, τu、τrDynamics Controlling amount, τ are represented respectivelyuRepresent advance and retreat direction propulsive force, τrRepresent yawing；ki(i
=1...4) controller design parameter is represented, and meet ki＞ 0, k2＞ k1＞ 0；Represent motion control tracing control
The derivative of rate parameter, wherein α1=k1(exy-δ)cosn(ψe), n takes positive integer,ψeIt is boat
To angular displacement；m11、m22、m33Represent the element in the quality and additional mass diagonal of a matrix of RobCutt-II；d11、d33Represent
Element on linear damping diagonal of a matrix；β1、β3Represent kinematic error amount, β1=u- α1, β3=r- α3。
S5：Dynamics Controlling amount and bionical fluctuation fin propulsion submarine navigation device fluctuation fin control ginseng are set up based on fuzzy reasoning
Mapping relations between number, obtain both sides fin controlled quentity controlled variable long.
Wherein, bionical fluctuation fin propulsion submarine navigation device fluctuation fin control parameter includes but is not limited to left side fin fin face ripple long
Frequency FL, right side wave frequency rate, F in fin fin face longR, fin face wave amplitude A and adjacent fin ray phase difference
Fig. 4 schematically illustrates propulsive force and yawing based on fuzzy reasoning-traveling wave parameter mapping model work
Schematic diagram, it includes obfuscation, fuzzy reasoning, fuzzy rule base and defuzzification.
Specifically, this step S5 can include：
S51：Dynamics Controlling amount and the propulsion submarine navigation device fluctuation fin control of bionical fluctuation fin are set up based on fuzzy reasoning
Mapping relations between parameter carry out obfuscation.Wherein, bionical fluctuation fin propulsion submarine navigation device fluctuation fin control parameter includes
Left side fin fin face wave frequency rate, long, right side fin fin face wave frequency rate, long, fin face wave amplitude and adjacent fin ray phase difference.
Further, step S51 can also include：
S511：It is determined that advance and retreat direction propulsive force, yawing, left and right fin vibration frequency, fin face wave amplitude and adjacent fin ray
The domain of phase difference.
For example, can be set as follows：Advance and retreat direction propulsive force τuDomain be [- 7,7], yawing τrDomain
It is [- 5,5], left and right fin vibration frequency FLAnd FRDomain be [- 40,40], the domain of fin face wave amplitude A is taken as [10,40],
Adjacent fin ray phase differenceDomain is [0,120].
S512：Selection fuzzy language subset and Triangleshape grade of membership function, so as to carry out obfuscation.
Selection to fuzzy language subset below is illustrated：τu、τr、FL、FR、A、Fuzzy variable is corresponded to respectively
Tu、Tr、UA、Wherein, UAFuzzy language value element set be taken as { PS, PM, PB, PL }；Tu、Tr、Fuzzy language value element be chosen for { NB, NM, NS, Z, PS, PM, PB }；Fuzzy language value set be
{Z,PS,PM,PB}.Wherein { NB, NM, NS, Z, PS, PM, PB } represent respectively it is negative big, negative in, it is negative it is small, zero, just small, center, just
Greatly.
S52：Set up fuzzy rule base.
In actual applications, fuzzy rule can be set up according to the experience obtained to RobCutt-II motion controls experiment
Storehouse.Specifically, can be carried out setting up fuzzy rule base according to following criterion：
(1) control priority of the Heading control priority higher than advance and retreat direction is set；
The criterion may insure, when rotating torque and all larger advance and retreat thrust, to make left and right fluctuation fin carry out differential motion,
Produce larger rotating torque and less advance and retreat thrust.
(2) when rotating torque is smaller and during larger advance and retreat thrust, frequency is different but direction is identical to produce left and right fluctuation fin
Traveling wave, less rotating torque is produced while to produce compared with high thrust.
Table 1 schematically illustrates fuzzy rule base.
Table 1：
S53：According to advance and retreat direction propulsive force, yawing after fuzzy rule base and obfuscation, and obtained using minimum method
To left and right fin vibration frequency, fin face wave amplitude, adjacent fin ray phase difference fuzzy control quantity.
S54：According to fuzzy control quantity, ambiguity solution computing is carried out using weighted mean method, obtain both sides fin controlled quentity controlled variable long.
The both sides fin controlled quentity controlled variable long that this step is obtained can be the traveling wave parameter of the left and right fluctuation fins of RobCutt-II.
With reference to preferred embodiment fuzzy pushing away is illustrated as a example by determining the vibration frequency of submarine navigation device left side fluctuation fin
Reason conciliates fuzzification process.
Sa1：I-th relevance grade of fuzzy rule is calculated according to following formula：
Wherein,Represent that in current input be τuWhen fuzzy variable TuJ-th Linguistic Value degree of membership；Represent that in current input be τwWhen fuzzy variable TwK-th Linguistic Value degree of membership；μiRepresent i-th fuzzy rule
Relevance grade then.
Sa2：The vibration frequency of following left side fluctuation fin is obtained by fuzzy reasoning and defuzzification：
Wherein, FLRepresent the clear value of the left side fin vibration frequency of fuzzy inference system output (shown in Figure 4)；M tables
Show in fuzzy rule base by current input (τu, τw) activation fuzzy rule quantity；Represent i-th fuzzy rule correspondence
In FLFuzzy output Linguistic Value obtain the center of membership function；μi(τu, τw) represent i-th relevance grade of fuzzy rule.
S6：Real-time navigation control is carried out to bionical fluctuation fin propulsion submarine navigation device according to both sides fin controlled quentity controlled variable long, is realized
Path following control.
The present invention is after adopting the above technical scheme, have following technique effect：According to RobCutt-II current locations and phase
Hope that the current RobCutt-II of path computing needs " sight line point " p of trackinglos, using line-of-sight navigation principle simulation, actual sailor makees
Industry, it is to avoid submarine navigation device planning obtains the difficulty in complex target course line, can improve navigation on the premise of precision is ensured
The operating efficiency of device.According to RobCutt-II current locations, course and " sight line point " plosData separate Backstepping is designed
RobCutt-II dynamics Controllings restrain τu, τr, it is divided into kinematics and the step of dynamics two design controller, simplify controller design
Difficulty, the stability of path trace error closed-loop system is ensured based on Lyapunov stability theory, and controller is under water
The model parameter uncertainty that environmental activity causes has certain robustness.Based on fuzzy reasoning set up dynamics Controlling amount and
Relation between RobCutt-II fluctuation fin control parameters so that path tracking control method can apply to bionical fluctuation fin
Advance in the middle of the motion control of submarine navigation device.
The embodiment of the present invention is verified with reference to preferred embodiment.
It is checking validity, for example, path trace checking can be carried out in the indoor pond of 5m × 4m × 1.1m.Installed in water
Overall Vision tracking system at the top of pond is connected to console by USB, by processing RobCutt-II with its surrounding environment
Image, console can in real time calculate the current positions and course of RobCutt-II, and be sent out by cable network based on udp protocol
RobCutt-II internal controllers are given to be fed back as pose.Fig. 5-Fig. 7 gives the checking that RobCutt-II tracks straight line mark
As a result.Wherein, Fig. 5 schematically illustrates bionical fluctuation fin propulsion submarine navigation device and is tracked in different time straight line path and illustrates
Figure.Fig. 6 schematically illustrates bionical fluctuation fin propulsion submarine navigation device straight line path pursuit path schematic diagram.Fig. 7 is exemplary
Show bionical fluctuation fin propulsion submarine navigation device straight line path tracking error curve schematic diagram.It can be seen that of the invention
Embodiment can be such that RobCutt-II moves on expected path quickly, be moved along expected path afterwards, and so that band
The controller tracking error of course compensation is less than the controller without course compensation.
Fig. 8-Figure 10 gives the result that RobCutt-II tracks Circular test.Fig. 8 schematically illustrates bionical ripple
Dynamic fin propulsion submarine navigation device justifies path trace schematic diagram in different time.Fig. 9 schematically illustrates bionical fluctuation fin propulsion
Submarine navigation device circle path trace track schematic diagram.Figure 10 schematically illustrates bionical fluctuation fin propulsion submarine navigation device circle road
Footpath tracking error curve schematic diagram.
It can be seen that two methods can control RobCutt-II to reach and moved along expected path from Fig. 5-10, but
Controller based on Backstepping can quickly control RobCutt-II to reach expected path, and with smaller tracking error.
The embodiment of the present invention can significantly improve bionical fluctuation fin propulsion submarine navigation device water by using above-mentioned technical proposal
Lower motion control accuracy, improves the precision of path trace, shortens the redundancy voyage that bionical fluctuation fin advances submarine navigation device,
With more stable control ability, guarantee is provided with the efficient completion of operation for it carries out sub-aqua sport.
So far, combined preferred embodiment shown in the drawings describes technical scheme, but, this area
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this
On the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to correlation technique feature, these
Technical scheme after changing or replacing it is fallen within protection scope of the present invention.
Claims (7)
1. a kind of bionical fluctuation fin advances submarine navigation device path tracking control method, it is characterised in that methods described includes：
It is determined that expecting track path；
Gather the bionical propulsion of fluctuation the fin real-time position of submarine navigation device and the course；
Current location and the expectation track path according to the bionical fluctuation fin propulsion submarine navigation device, calculate described bionical
Fluctuation fin propulsion submarine navigation device is currently needed for sight line point and the desired course angle of tracking；
According to the bionical fluctuation fin propulsion submarine navigation device current location, the course and the sight line point, using Backstepping
Design the dynamics Controlling rule of the bionical fluctuation fin propulsion submarine navigation device；
Set up between dynamics Controlling amount and bionical fluctuation fin propulsion submarine navigation device fluctuation fin control parameter based on fuzzy reasoning
Mapping relations, obtain both sides fin controlled quentity controlled variable long；
Real-time navigation control is carried out to the bionical fluctuation fin propulsion submarine navigation device according to both sides fin controlled quentity controlled variable long, is realized
Path following control.
2. method according to claim 1, it is characterised in that the determination expects that track path is specifically included：
The expectation track path is determined according to following formula：
Ω (s)=[xd(s), yd(s)]T
Wherein, the Ω (s) represents the expectation track path；The s represents the arc length of the expectation track path；The xd
(s), the ydS () represents the coordinate expected and put on track path.
3. method according to claim 1, it is characterised in that described according to the bionical fluctuation fin propulsion submarine navigation device
Current location and the expectation track path, calculate the bionical fluctuation fin propulsion submarine navigation device and be currently needed for regarding for tracking
Line point and desired course angle, specifically include：
The sight line point is determined according to the bionical fluctuation fin propulsion submarine navigation device current location；
The bionical fluctuation fin propulsion submarine navigation device current location is pointed to the vectorial deflection of the sight line point, is defined as
First expects course angle；
Compensated using line-of-sight navigation system, obtain the second expectation course angle, and expect course angle as institute using described second
State the desired course angle that bionical fluctuation fin advances submarine navigation device.
4. method according to claim 3, it is characterised in that described according to the bionical fluctuation fin propulsion submarine navigation device
Current location determines that the sight line point is specifically included：
If the bionical fluctuation fin propulsion submarine navigation device is less than distance threshold with the distance of the expectation track path, by institute
State and expect that the intersection point of more front end on track path is defined as the sight line point；
If the bionical fluctuation fin propulsion submarine navigation device is more than or equal to the distance with the distance of the expectation track path
Threshold value, then will expect that the nearest point in bionical fluctuation fin propulsion submarine navigation device current location is defined as described in distance on track path
The sight line point.
5. method according to claim 3, it is characterised in that described according to the bionical fluctuation fin propulsion submarine navigation device
Current location, the course and the sight line point, using the dynamic of the Backstepping design bionical fluctuation fin propulsion submarine navigation device
Mechanics control law, specifically includes：
According to sight line point coordinates, following tracking error equation is set up：
Wherein, the exyFor the level between the bionical fluctuation fin propulsion submarine navigation device and the expectation track path away from
From；The ψeIt is heading angle deviation；The ψ represents course；The ψDRepresent that described second expects course angle；The xd, the yd
Represent the position of sight line point；The x, the y represent that the bionical fluctuation fin advances the real time position of submarine navigation device respectively；
According to the tracking error equation, the kinematics model that bionical fluctuation fin as described below advances submarine navigation device is set up：
Wherein, it is describedRepresent the level between the bionical fluctuation fin propulsion submarine navigation device and the expectation track path
Distance；It is describedRepresent the derivative of heading angle deviation；The u, the v, the r are expressed as the bionical fluctuation fin and push away
Enter advance and retreat speed, sidesway speed and the yaw rate of submarine navigation device；
According to the kinematics model, kinematics tracing control rate is calculated：
Wherein, the δ is an arbitrarily small normal number；The n is any natural number；The ψeIt is heading angle deviation；The k1,
The k2It is controller design parameter, and meets k2＞ k1＞ 0；
According to the kinematics tracing control rate, dynamics Controlling rule as described below is calculated：
Wherein, the τu, the τrDynamics Controlling amount, the τ are represented respectivelyuRepresent advance and retreat direction propulsive force, the τrRepresent
Yawing；The ki(i=1...4) controller design parameter is represented, and meets ki＞ 0, k2＞ k1＞ 0；It is describedIt is describedThe derivative of motion control tracing control rate parameter is represented, wherein the α1=k1(exy-δ)cosn(ψe), the n takes just whole
Number, it is describedThe m11, the m22, the m33Represent the bionical fluctuation fin propulsion water
Element in the quality and additional mass diagonal of a matrix of lower ROV；The d11, the d33Represent linear damping matrix diagonals
Element on line；The β1, the β3Represent kinematic error amount, the β1=u- α1, the β3=r- α3。
6. method according to claim 1, it is characterised in that described that dynamics Controlling amount and imitative is set up based on fuzzy reasoning
Mapping relations between raw fluctuation fin propulsion submarine navigation device fluctuation fin control parameter, obtain both sides fin controlled quentity controlled variable long, specific bag
Include：
The dynamics Controlling amount and the bionical fluctuation fin propulsion submarine navigation device fluctuation fin control are set up based on fuzzy reasoning
Mapping relations between parameter, and carry out obfuscation；Wherein, the bionical fluctuation fin propulsion submarine navigation device fluctuation fin control ginseng
Number includes left side fin fin face wave frequency rate, long, right side fin fin face wave frequency rate, long, fin face wave amplitude and adjacent fin ray phase difference；
Set up fuzzy rule base；
According to advance and retreat direction propulsive force, yawing after the fuzzy rule base and obfuscation, and a left side is obtained using minimum method
Right fin vibration frequency, fin face wave amplitude, the fuzzy control quantity of adjacent fin ray phase difference；
According to the fuzzy control quantity, ambiguity solution computing is carried out using weighted mean method, obtain both sides fin controlled quentity controlled variable long.
7. method according to claim 6, it is characterised in that described that the dynamics Controlling amount is set up based on fuzzy reasoning
And the mapping relations between the bionical fluctuation fin propulsion submarine navigation device fluctuation fin control parameter, and obfuscation is carried out, specifically
Including：
Determine advance and retreat direction propulsive force, the yawing, the left and right fin vibration frequency, fin face wave amplitude and institute
State the domain of adjacent fin ray phase difference；
Selection fuzzy language subset and Triangleshape grade of membership function, so as to carry out obfuscation.
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