CN110333658B - Under-actuated ship course control method with input constraint and drift angle compensation - Google Patents

Under-actuated ship course control method with input constraint and drift angle compensation Download PDF

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CN110333658B
CN110333658B CN201910625737.5A CN201910625737A CN110333658B CN 110333658 B CN110333658 B CN 110333658B CN 201910625737 A CN201910625737 A CN 201910625737A CN 110333658 B CN110333658 B CN 110333658B
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course
ship
drift angle
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陆潇杨
刘志全
高迪驹
褚建新
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Shanghai Maritime University
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Abstract

The invention provides an under-actuated ship course control method with input constraint and drift angle compensation, which is characterized in that a hyperbolic tangent function is introduced to convert a discontinuous input saturation function into a continuous function based on a backstepping control algorithm, external disturbance in the heading direction is estimated by combining a self-adaptive law, the under-actuated ship can keep a small control input moment while sailing along a set course by the proposed course control algorithm, and the motion control performance is greatly improved.

Description

Under-actuated ship course control method with input constraint and drift angle compensation
Technical Field
Relates to the field of ship control, in particular to an under-actuated ship course control method with input constraint and drift angle compensation.
Background
With the increasing density of marine traffic, the problem of how to better realize ship course control is concerned by more and more scholars. Most conventional vessels in real life are typically under-actuated, i.e. the motions in both the sway and yaw are controlled by only one control input. The drift angle is usually ignored in course control, but the actual drift angle is not zero, so that the actual moving direction of the ship and the expected course are different by one drift angle, and if the actual moving direction of the ship is not corrected, the course control performance is reduced. Input saturation is a common phenomenon in an actual control system, any actuator has a certain executable range, once the input exceeds a limit value, the operation of the actuator is affected, the system performance is reduced, the control effect is affected, and the loss of a rudder is increased by keeping overlarge control input for a long time.
Disclosure of Invention
The invention provides an under-actuated ship course control method with input constraint and drift angle compensation, which is characterized in that a hyperbolic tangent function is introduced to convert a discontinuous input saturation function into a continuous function based on a backstepping control algorithm, and external disturbance in the heading direction is estimated by combining a self-adaptive law.
The method mainly comprises the following steps:
step 1, establishing a ship mathematical model;
the motions in the heave, roll and pitch directions are ignored, and the dynamics model of the under-actuated ship with two-degree-of-freedom motion in the roll and yaw directions can be summarized as follows:
Figure BDA0002127030550000011
Figure BDA0002127030550000012
where r is the yaw frequency urAnd vrThe relative surging and swaying speed of the ship relative to a ship body coordinate system; psi denotes the actual heading angle of the vessel, for i 11,22,33, parameter miRepresenting the inertia of the vessel system, diIs hydrodynamic damping in yawing, surging and swaying, omegarAnd ωvRespectively, there is an unknown external interference in the yaw and roll directions;
Figure BDA0002127030550000013
is the actual control input to the control system,
Figure BDA0002127030550000014
is the output of the saturation actuator, tauMThe bound value of the control input constraint.
Step 2, introducing a hyperbolic tangent function, and converting control input saturation constraint into a continuous function;
introducing hyperbolic tangent function
Figure BDA0002127030550000021
To approximate the non-linear part of the saturation function as follows
Figure BDA0002127030550000022
So will
Figure BDA0002127030550000023
Is defined in two parts, i.e.
Figure BDA0002127030550000024
Wherein
Figure BDA0002127030550000025
To approximate the error, assuming it is bounded, equation (1) can be rewritten as follows:
Figure BDA0002127030550000026
wherein
Figure BDA00021270305500000211
Bounded, so assume Δ ≦ σ, define
Figure BDA0002127030550000027
An estimated value of σ with an estimation error of
Figure BDA0002127030550000028
c is a normal number and phi is an auxiliary signal.
Step 3, issuing a desired course command, namely setting a desired course angle psid；
Step 4, considering the influence of ocean currents on drift angle, calculating drift angle beta, and utilizing the drift angle to expect course angle psidCompensation is carried out;
Figure BDA0002127030550000029
wherein u isrAnd vrAre respectively ship relativeActual swaying and surging speeds, v, in the hull coordinate systemcAnd betacIs the wave speed and azimuth angle relative to the geodetic coordinate system, and can be obtained by combining the formula
ψda＝ψd-β (7)
Step 5, designing a course control algorithm;
introducing new variables in combination with step 4 to carry out state transition
z1＝∫ψdt-∫ψdadt (8)
z2＝ψ-ψda-α1 (9)
z3＝r-α2 (10)
Figure BDA00021270305500000210
Wherein z isiI is 1,2,3,4, is an auxiliary variable, αiWhere i is 1,2,3, a virtual stabilization function is described as follows
α1＝-k1z1 (12)
Figure BDA0002127030550000031
Figure BDA0002127030550000032
Wherein constant k1＞0，k2＞0，k3＞0，υ＞0；
Law of design adaptation
Figure BDA0002127030550000033
Is composed of
Figure BDA0002127030550000034
Wherein the constant gamma isf＞0；
The auxiliary signal phi is
Figure BDA0002127030550000035
Wherein constant k4＞0。
Step 6, the control system executes the instruction, and updates the heading angle psi, the heading angle frequency r and the swaying speed v in real timerAnd go to step 4.
The method has the following effects and advantages:
the hyperbolic tangent function is introduced to approximate the saturation constraint of the control input, the requirement of guiding all functions in the design of the backstepping method is met, the disturbance in the heading direction is estimated and processed by combining the self-adaptive law, and the heading control method based on the backstepping method ensures that the system reaches a stable state in a short time, greatly reduces the heading output error, simultaneously keeps smaller control input torque and effectively improves the control performance.
Drawings
FIG. 1 is a schematic view of course control of a ship without compensating drift angle
FIG. 2 is a schematic view of course control after drift angle compensation according to the present invention
Detailed Description
The invention provides an under-actuated ship course control method with input constraint and drift angle compensation, which introduces a hyperbolic tangent function to convert a discontinuous input saturation function into a continuous function, estimates external disturbance in a heading direction by combining a self-adaptive law, and designs a complete course controller by combining a back step method, and comprises the following steps of:
step 1, establishing a ship mathematical model;
the motions in the heave, roll and pitch directions are ignored, and the dynamics model of the under-actuated ship with two-degree-of-freedom motion in the roll and yaw directions can be summarized as follows:
Figure BDA0002127030550000041
Figure BDA0002127030550000042
where r is the yaw frequency urAnd vrThe relative surging and swaying speed of the ship relative to a ship body coordinate system; psi denotes the actual heading angle of the vessel, for i 11,22,33, parameter miRepresenting the inertia of the vessel system, diIs hydrodynamic damping, omega, in yawing, pitching and yawingrAnd omegavRespectively, there is an unknown external interference in the heading and rolling directions;
Figure BDA0002127030550000043
is the actual control input to the control system,
Figure BDA0002127030550000044
is the output of the saturation actuator, tauMThe bound value of the constraint is input for control.
Step 2, introducing a hyperbolic tangent function, and converting control input saturation constraint into a continuous function;
introducing hyperbolic tangent function
Figure BDA00021270305500000413
To approximate the non-linear part of the saturation function as follows
Figure BDA0002127030550000045
So will
Figure BDA0002127030550000046
Is defined in two parts, i.e.
Figure BDA0002127030550000047
Wherein
Figure BDA0002127030550000048
To approximate the error, assuming it is bounded, equation (1) can be rewritten as follows:
Figure BDA0002127030550000049
wherein
Figure BDA00021270305500000410
Bounded, so assume Δ ≦ σ, defined
Figure BDA00021270305500000411
An estimated value of σ with an estimation error of
Figure BDA00021270305500000412
c is a normal number and phi is an auxiliary signal.
Step 3, issuing a desired course command, namely setting a desired course angle psid；
Step 4, considering the influence of ocean currents on drift angle, calculating drift angle beta, and utilizing the drift angle to expect course angle psidPerforming compensation;
Figure BDA0002127030550000051
wherein u isrAnd vrActual swaying and surging speeds, v, of the vessel relative to the hull coordinate system, respectivelycAnd betacIs the current velocity and azimuth relative to the geodetic coordinate system, which can be obtained by combining the above formula
ψda＝ψd-β (7)
Step 5, designing a course control algorithm;
introducing new variables to carry out state transition in combination with step 4
z1＝∫ψdt-∫ψdadt (8)
z2＝ψ-ψda-α1 (9)
z3＝r-α2 (10)
Figure BDA0002127030550000052
Wherein z isiI is 1,2,3,4 as an auxiliary variable, alphaiWhere i is 1,2,3, a virtual stabilization function is described as follows
α1＝-k1z1 (12)
Figure BDA0002127030550000053
Figure BDA0002127030550000054
Wherein constant k1＞0，k2＞0，k3＞0，υ＞0；
Law of design adaptation
Figure BDA0002127030550000055
Is composed of
Figure BDA0002127030550000056
Wherein the constant gammaf＞0；
The auxiliary signal phi is
Figure BDA0002127030550000057
Wherein constant k4＞0。
Step 6, the control system executes the instruction, and updates the heading angle psi, the heading angle frequency r and the swaying speed v in real timerAnd go to step 4.

Claims (1)

1. An under-actuated ship course control method with input constraint and drift angle compensation is characterized by comprising the following steps:
step 1, establishing a ship mathematical model;
the motions in the heave, roll and pitch directions are ignored, and the dynamics model of the under-actuated ship with two-degree-of-freedom motion in the roll and yaw directions can be summarized as follows:
Figure FDA0003638706840000011
Figure FDA0003638706840000012
where r is the yaw frequency urAnd vrThe relative surging and swaying speed of the ship relative to a ship body coordinate system; psi denotes the actual heading angle of the vessel, for i 11,22,33, parameter miRepresenting the inertia of the vessel system, diIs hydrodynamic damping, omega, in yawing, pitching and yawingrAnd ωvRespectively, there is an unknown external interference in the heading and rolling directions;
Figure FDA0003638706840000013
is the actual control input that is to be made,
Figure FDA0003638706840000014
is the output of the saturation actuator, tauMA bound value for a control input constraint;
step 2, introducing a hyperbolic tangent function, and converting control input saturation constraint into a continuous function;
hyperbolic tangent function
Figure FDA0003638706840000015
To approximate the non-linear part of the saturation function, as shown below
Figure FDA0003638706840000016
So will
Figure FDA0003638706840000017
Is defined in two parts, i.e.
Figure FDA0003638706840000018
Wherein
Figure FDA0003638706840000019
To approximate the error, assuming it is bounded, equation (1) can be rewritten as follows:
Figure FDA00036387068400000110
wherein
Figure FDA00036387068400000111
Bounded, so assume Δ ≦ σ, defined
Figure FDA00036387068400000112
An estimated value of σ with an estimation error of
Figure FDA00036387068400000113
c is a normal number, phi is an auxiliary signal;
step 3, issuing a desired course command, namely setting a desired course angle psid；
Step 4, considering the influence of ocean currents on drift angle, calculating drift angle beta, and utilizing the drift angle to expect course angle psidCompensation is carried out;
Figure FDA0003638706840000021
where u and v are the actual surging and swaying speed of the vessel, respectively, with respect to the hull coordinate system, vcAnd betacIs the wave speed and azimuth angle relative to the geodetic coordinate system, and can be obtained by combining the formula
ψda＝ψd-β (7)
Step 5, designing a course control algorithm;
introducing new variables in combination with step 4 to carry out state transition
z1＝∫ψdt-∫ψdadt (8)
z2＝ψ-ψda-α1 (9)
z3＝r-α2 (10)
Figure FDA0003638706840000022
Wherein z isiI is 1,2,3,4 as an auxiliary variable, alphaiAnd i is 1,2,3, and is as follows
α1＝-k1z1 (12)
Figure FDA0003638706840000023
Figure FDA0003638706840000024
Wherein constant k1＞0，k2＞0，k3＞0，υ＞0；
Law of design adaptation
Figure FDA0003638706840000025
Is composed of
Figure FDA0003638706840000026
Wherein the constant gammaf＞0；
The auxiliary signal phi is
Figure FDA0003638706840000027
Wherein constant k4＞0；
Step 6, the control system executes the instruction and updates the course angle psi, the heading angle frequency r and the swaying speed v in real timerAnd go to step 4.
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CN110852619B (en) * 2019-11-12 2020-05-22 山东交通学院 Method for correcting sea wave resistance in ship performance evaluation
CN111291453B (en) * 2020-03-20 2023-11-17 智慧航海（青岛）科技有限公司 Hydrodynamic force determination method for ship
CN112230666B (en) * 2020-10-30 2024-06-07 上海海事大学 Drift angle correction course control method based on self-adaptive extended state observer
CN113050432B (en) * 2020-11-12 2023-02-28 暨南大学 Online self-adaptive near-optimal control method, system and device for under-actuated ship
CN113625546B (en) * 2021-08-10 2024-03-05 大连海事大学 Stabilizing control anti-saturation method for shipborne stabilized platform
CN114611206B (en) * 2022-02-28 2024-02-23 中国船舶重工集团公司第七0七研究所 Environment optimal heading positioning method for power positioning ship

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