CN106950955B - Based on the ship's track-keepping control method for improving LOS bootstrap algorithm - Google Patents
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Abstract
The present invention relates to based on the ship's track-keepping control method for improving LOS bootstrap algorithm, this method including the following steps: 1, ship set track points generation path on along a certain rectilinear path section navigation when, its real-time sail information is obtained by the navigation module of ship；2, course-line deviation exceeds acceptable deviation d ' between actual path and planning path, then desired course is calculated in the LOS bootstrap algorithm of operational development；If it is not, keeping the original planning track navigation of ship；3, step 2 is repeated until course-line deviation is in acceptable deviation.Improved LOS bootstrap algorithm is applied to ship track tracing control field by the present invention, and clear thinking, algorithm is simple, can control ship tracking to set course line, and rudder angle variation is gentle, can be avoided ship and frequently makes rudder.
Description
Technical field
The present invention relates to ship's track-keepping control technical fields, and in particular to one kind based on improve LOS (Line-of-sight,
Bootstrap algorithm) bootstrap algorithm ship's track-keepping control method.
Background technique
Water is that the important component at earth home and society can be realized sustainable development valuable source place.Ship
Oceangoing ship as the vehicles in water body, national defence, national economy and in terms of all account for and have a place in the sun.Ship has
It is stealthy, intelligent, be not related to the advantage of site operation personnel human safety issues.Nowadays, ship is as hardware platform civilian
Military equal everyways have infiltration.In recent years, industry emerges one after another to the research and development of ship.Ship has merged ship, has led to
The technologies such as letter, automation, robot control, long-range monitoring, networked system realize independent navigation, intelligent barrier avoiding, at a distance
The functions such as communication, realtime video transmission and networked control.In face of the complicated marine environment for being difficult to predict, for a long time, it is autonomous,
Safely navigating by water a series of this dynamic control technology influences and restricts above water craft to send out to long-range and multi-functional direction always
Exhibition.
Ship's track-keepping control technology has the characteristics that control that precision is high, is not influenced by subjective factor, is highly-safe, and more
It has great application prospect come more aspects.Along with the high speed development of world economy and science and technology, in order to create ship
Bigger economic benefit, solution are undocked upper labour, and guarantee that safety of ship navigates by water energy savingly, and ship intelligence becomes 21 century
The inexorable trend of ship development.Flight tracking control technology can not only mitigate crewman as the intelligentized core technology of ship is realized
Labor intensity under identical navigation condition, yaw number can be reduced, reduce course deviation and in oceangoing voyage, thus
The speed of a ship or plane is improved, hours underway is shortened, fuel is saved, improves the economic benefit of navigation, while it is subjective to overcome Ship Controling personnel
The influence of factor to ship track can precisely scientifically control, greatly increase the safety of ship's navigation.
It is higher to develop extensive LOS flight tracking control arithmetic accuracy now, but there are still ship turning precision and efficiency to be difficult to
The defect of guarantee.
Summary of the invention
The purpose of the present invention is to provide a kind of based on the ship's track-keepping control method for improving LOS bootstrap algorithm, this method
Using constantly cut using circular arc approach setting course line method, enable ship steering engine beat rudder, course change it is gentle while
Enough converge quickly to setting course line.By the improvement to LOS algorithm to obtain planning course preferably, realizing with good
While the control algolithm of good control effect, the stability of control algolithm ensure that.
In order to solve the above technical problems, disclosed by the invention a kind of based on the ship's track-keepping control for improving LOS bootstrap algorithm
Method, which is characterized in that it includes the following steps:
Step 1: ship is in the planning path for having set track points generation along a certain rectilinear path section of preset flight path section
When navigation, the real-time actual flight path information of ship is obtained by the navigation module of ship；
Step 2: the real-time actual flight path information of ship being compared with planning path, when the real-time actual flight path of ship
When true course-line deviation d between information and planning path exceeds acceptable deviation d ', the LOS of following methods operational development is utilized
Ship desired course is calculated in bootstrap algorithm；Otherwise, the original planning track navigation of ship is kept；
Step 2.1: taking the reference frame for being fixed on that tellurian coordinate system is XY axis；
Step 2.2: a buffering is established in a certain rectilinear path section of preset flight path section described in step 1 or so region
Area, the left margin and right margin of the buffer area are parallel with a certain rectilinear path section of the preset flight path section, a left side for buffer area
Boundary gives course-line deviation d at a distance from a certain rectilinear path section of the preset flight path section for buffer area0, the right of buffer area
Boundary is also that buffer area gives course-line deviation d at a distance from a certain rectilinear path section of the preset flight path section0；
Step 2.3: when ship does not enter into buffer area, i.e., true course-line deviation d >=buffer area gives course-line deviation d0When,
Using approach method straight, i.e. ship approaches prebriefed pattern along minimum range perpendicular to the desired course of prebriefed pattern；
When ship enters buffer area, i.e., the true buffer area course-line deviation d < gives course-line deviation d0When, using finite iteration
Circular arc method realizes that ship approaches prebriefed pattern, the specific steps are as follows:
Step 2.3.1: A (x is setk,yk)、B(xk+1,yk+1) two adjacent track points are respectively represented, ship is along adjacent track
Line navigation between point A, B；The slope in AB sections of course linesAngle rotates counterclockwise to AB sections of boats with X-axis
Straight line where line is negative, therefore the course for setting course line, if C (x, y) represents the current location of ship, initially enters buffer area as-θ
Real-time desired course ψ (di) it is defaulted as the actual heading of ship at this time；
Step 2.3.2: do one by vessel position point C (x, y) and with real-time desired course ψ (di) and setting track section
AB all tangent circle, the angle of circumference of minor arc corresponding to two point of contacts are θ-ψ (di)；
Step 2.3.3: taking the angular bisector of the angle of circumference of above-mentioned minor arc to hand in and state minor arc in point E, vessel position point C (x,
It y) is desired course with the direction line CE of point E, the angular bisector of the angle of circumference of above-mentioned minor arc and the angle of X-direction are at this time
ψ(di+1), i.e. the desired course that will navigate by water of ship；
Step 2.3.4: step 2.3.2~step 2.3.3 is repeated, real-time desired course is obtained according to the mode of recursionWherein, i is the number for executing desired course, and ship is according to real-time expectation
Preset flight path is approached in course；
Step 3: repeating step 2 until true course-line deviation d is interior in acceptable deviation d '.
Compared with prior art, the invention has the following advantages:
1, radius R value fixed in tradition LOS design, which will lead to ship, to provide the bigger phase when far from track line
Hope course ψ (d) ineffective so as to cause its guidance, in order to solve this problem, the present invention is constantly cut using circular arc and approached
Set course line method (i.e. improved LOS bootstrap algorithm), enable ship steering engine beat rudder, course change it is gentle while it is fast
Setting course line is converged on fastly.
2, it is same fixed that distance is turned to when the switching of track section when track section switches, in traditional design, when steering angle compared with
It will cause ship apparent flare phenomenon when big, the present invention draws the thought of fuzzy algorithmic approach, passes through a large amount of Matlab emulation experiments
To establish a steering distance about the function of steering angle to improve the ship flare phenomenon that traditional LOS algorithm easily causes.
3, LOS bootstrap algorithm clear thinking of the invention, algorithm is simple, easy to accomplish.
Detailed description of the invention
Fig. 1 is the flow chart based on the ship's track-keepping control method for improving LOS bootstrap algorithm
Fig. 2 is the path improved after LOS bootstrap algorithm
Fig. 3 is the calculation method of buffer area LOS
The calculation method of LOS when Fig. 4 is the conversion of track section
Fig. 5 is based on the ship's track-keepping control method simulation result for improving LOS bootstrap algorithm
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:
The present invention devises a kind of ship's track-keepping control method based on improvement LOS bootstrap algorithm, as illustrated in fig. 1 and 2, it
Include the following steps:
Step 1: ship is in the planning path for having set track points generation along a certain rectilinear path section of preset flight path section
When navigation, the real-time actual flight path information of ship is obtained by the navigation module of ship；
Step 2: the real-time actual flight path information of ship being compared with planning path, when the real-time actual flight path of ship
When true course-line deviation d between information and planning path exceeds acceptable deviation d ', the LOS of following methods operational development is utilized
Ship desired course is calculated in bootstrap algorithm；Otherwise, the original planning track navigation of ship is kept；
Step 2.1: taking the reference frame for being fixed on that tellurian coordinate system is XY axis；
Step 2.2: a buffering is established in a certain rectilinear path section of preset flight path section described in step 1 or so region
Area, the left margin and right margin of the buffer area are parallel with a certain rectilinear path section of the preset flight path section, a left side for buffer area
Boundary gives course-line deviation d at a distance from a certain rectilinear path section of the preset flight path section for buffer area0, the right of buffer area
Boundary is also that buffer area gives course-line deviation d at a distance from a certain rectilinear path section of the preset flight path section0；
Step 2.3: when ship does not enter into buffer area, i.e., true course-line deviation d >=buffer area gives course-line deviation d0When,
Using approach method straight, i.e. ship approaches prebriefed pattern along minimum range perpendicular to the desired course of prebriefed pattern；
When ship enters buffer area, i.e., the true buffer area course-line deviation d < gives course-line deviation d0When, using finite iteration
Circular arc method realizes that ship smoothly approaches rapidly prebriefed pattern, and specific step is as follows (as shown in Figure 3):
Step 2.3.1: A (x is setk,yk)、B(xk+1,yk+1) two adjacent track points are respectively represented, ship is along adjacent track
Line navigation between point A, B；The slope in AB sections of course linesAngle rotates counterclockwise to AB sections of boats with X-axis
Straight line where line is negative, therefore the course for setting course line, if C (x, y) represents the current location of ship, initially enters buffer area as-θ
Real-time desired course ψ (di) it is defaulted as the actual heading of ship at this time；
Step 2.3.2: do one by vessel position point C (x, y) and with real-time desired course ψ (di) and setting track section
AB all tangent circle, the angle of circumference of minor arc corresponding to two point of contacts are θ-ψ (di)；
Step 2.3.3: taking the angular bisector of the angle of circumference of above-mentioned minor arc to hand in and state minor arc in point E, vessel position point C (x,
It y) is desired course with the direction line CE of point E, the angular bisector of the angle of circumference of above-mentioned minor arc and the angle of X-direction are at this time
ψ(di+1), i.e. the desired course that will navigate by water of ship；
Step 2.3.4: step 2.3.2~step 2.3.3 is repeated, real-time desired course is obtained according to the mode of recursionWherein, i is the number for executing desired course, and ship is according to real-time expectation
Preset flight path is approached in course；
Step 3: repeating step 2 until true course-line deviation d is interior in acceptable deviation d '.
Step 4: when ship travels along a certain rectilinear path section of preset flight path section and drives into adjacent rectilinear path section,
The turning radius of the ship in advance steering distance different with determination is adjusted according to the angle of adjacent two rectilinear paths section.
In above-mentioned technical proposal, step 4 solve different steerings in advance apart from the step of following (as shown in Figure 4):
Utilize Rt=(α * θt+β)LPPCalculating turns to distance in advance, wherein RtTo turn to distance, θ in advancetFor adjacent two straight line
The angle of track section, α, β are constant, LPPFor the length between perpendiculars of ship.
In above-mentioned technical proposal, the value that the value of the α is 0.25, β is 0.3.
In above-mentioned technical proposal, the α of flare phenomenon, β value can be obviously reduced by doing a large amount of emulation experiment determinations.Exist in this way
Suitable steering distance can be calculated under different steering angles makes ship substantially according to inscribe to reduce ship flare phenomenon
Circular arc smoothly turns to, and almost keeps identical rudder angle.
In order to verify the control effect for the ship's track-keepping control method for improving LOS bootstrap algorithm, by building indirect track
Controller simulation model is controlled, using PID controller as inner ring direction controller, is acted on using improved LOS bootstrap algorithm
In outer ring flight tracking control device, emulation experiment is completed with this.Setting for emulation experiment parameter is as follows: setting simulation time as 400s；
PID direction controller Kp、Ki、KdThree parameters are respectively set as 0.35,0.0001,3.5.
Fig. 5 is the Matlab simulation result improved after LOS bootstrap algorithm.From simulation result as can be seen that utilizing the present invention
The improvement LOS method of proposition, flare phenomenon α is obviously reduced when track section is converted in ship, β value is respectively 0.25,0.3.
The invention proposes a kind of based on the ship's track-keepping control method for improving LOS bootstrap algorithm, for rectilinear path section
Different situations when converting with track section, using the method for circular approximation, having effectively achieved ship can quickly be converged to
Desired trajectory and to make the change in course both make rudder more gentle, reduces ship flare phenomenon.
In above-mentioned technical proposal, using limited iterative method, can demonstrate,prove proper i level off to some less big value when just
Foot makes ψ (di) tend to set course-θ, and the changes delta ψ (d of desired coursei) tend to 0 namely rudder angle be held essentially constant, it was demonstrated that
Process is as follows:
Rudder angle variable quantity
When i levels off to infinity, ψ (di) tend to set course-θ, Δ ψ (di) tend to 0, ψ (di-1) indicate desired course ψ
(di) the last desired course asked, ψ (d) indicates to enable the desired course of the initial time of LOS algorithm；
Direction due to ship perpendicular to setting course line AB enters buffer area, is easy to get by geometrical relationship
Wherein, Δ is course deviation, if the allowed band of course deviation Δ is 1 °, i.e.,It enablesI >=16 are obtained,
Course deviation can reach allowed band and reduce by index after making No. 16 rudders.
Thus it demonstrate,proves, improved LOS algorithm can make ship quickly and gently converge on setting course line.
In the present embodiment, the step 3 is the check and correction to desired course, in certain acceptable deviation d ' range,
Realize the Track In Track control of ship.
The content that this specification is not described in detail belongs to the prior art well known to professional and technical personnel in the field.
Claims (2)
1. a kind of based on the ship's track-keepping control method for improving LOS bootstrap algorithm, which is characterized in that it includes the following steps:
Step 1: ship navigates by water in the planning path for having set track points generation along a certain rectilinear path section of preset flight path section
When, the real-time actual flight path information of ship is obtained by the navigation module of ship；
Step 2: the real-time actual flight path information of ship being compared with planning path, when the real-time actual flight path information of ship
When true course-line deviation d between planning path exceeds acceptable deviation d ', guided using the LOS of following methods operational development
Ship desired course is calculated in algorithm；Otherwise, the original planning track navigation of ship is kept；
Step 2.1: taking the reference frame for being fixed on that tellurian coordinate system is XY axis；
Step 2.2: a buffer area is established in a certain rectilinear path section of preset flight path section described in step 1 or so region, should
The left margin and right margin of buffer area are parallel with a certain rectilinear path section of the preset flight path section, the left margin of buffer area with
The distance of a certain rectilinear path section of the preset flight path section is that buffer area gives course-line deviation d0, the right margin of buffer area and institute
The distance for stating a certain rectilinear path section of preset flight path section is also that buffer area gives course-line deviation d0；
Step 2.3: when ship does not enter into buffer area, i.e., true course-line deviation d >=buffer area gives course-line deviation d0When, it uses
Approach method straight, i.e. ship approach prebriefed pattern along minimum range perpendicular to the desired course of prebriefed pattern；
When ship enters buffer area, i.e., the true buffer area course-line deviation d < gives course-line deviation d0When, using finite iteration circular arc
Method realizes that ship approaches prebriefed pattern, the specific steps are as follows:
Step 2.3.1: A (x is setk,yk)、B(xk+1,yk+1) respectively represent two adjacent track points, ship along adjacent track points A,
Line navigation between B；The slope in AB sections of course linesAngle rotates counterclockwise to AB sections of course line institutes with X-axis
It is negative in straight line, therefore the course for setting course line, if C (x, y) represents the current location of ship, initially enters the reality of buffer area as-θ
When desired course ψ (di) it is defaulted as the actual heading of ship at this time；
Step 2.3.2: do one by vessel position point C (x, y) and with real-time desired course ψ (di) and setting track section AB is
Tangent circle, the angle of circumference of minor arc corresponding to two point of contacts are θ-ψ (di)；
Step 2.3.3: taking the angular bisector of the angle of circumference of above-mentioned minor arc to hand in and state minor arc in point E, vessel position point C (x, y) with
The direction line CE of point E is desired course, and the angular bisector of the angle of circumference of above-mentioned minor arc and the angle of X-direction are ψ at this time
(di+1), i.e. the desired course that will navigate by water of ship；
Step 2.3.4: step 2.3.2~step 2.3.3 is repeated, real-time desired course is obtained according to the mode of recursionWherein, i is the number for executing desired course, and ship is according to real-time expectation
Preset flight path is approached in course；
Step 3: repeating step 2 until true course-line deviation d is interior in acceptable deviation d '；
Step 4: when ship travels along a certain rectilinear path section of preset flight path section and drives into adjacent rectilinear path section, according to
The angle of adjacent two rectilinear paths section adjusts the turning radius of the ship in advance steering distance different with determination；
Step 4 solve different steerings in advance apart from the step of it is as follows:
Utilize Rt=(α * θt+β)LPPCalculating turns to distance in advance, wherein RtTo turn to distance, θ in advancetFor adjacent two rectilinear path
The angle of section, α, β are constant, LPPFor the length between perpendiculars of ship；
Using limited iterative method, can demonstrate,prove proper i level off to some value when just make ψ (d enoughi) tend to set course-θ, and phase
Hope the changes delta ψ (d in coursei) tend to 0 namely rudder angle be held essentially constant, it was demonstrated that process is as follows:
Rudder angle variable quantity
When i levels off to infinity, ψ (di) tend to set course-θ, Δ ψ (di) tend to 0, ψ (di-1) indicate desired course ψ
(di) the last desired course asked, ψ (d) indicates to enable the desired course of the initial time of LOS algorithm；
Direction due to ship perpendicular to setting course line AB enters buffer area, is easy to get by geometrical relationship
Wherein, Δ is course deviation, if the allowed band of course deviation Δ is 1 °, i.e.,It enablesI >=16 are obtained, that is, are beaten
Course deviation can reach allowed band and reduce by index after No. 16 rudders.
2. according to claim 1 based on the ship's track-keepping control method for improving LOS bootstrap algorithm, it is characterised in that: institute
The value that the value for stating α is 0.25, β is 0.3.
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