CN111830832B - Bionic gliding machine dolphin plane path tracking method and system - Google Patents
Bionic gliding machine dolphin plane path tracking method and system Download PDFInfo
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Abstract
The invention relates to a bionic gliding robot dolphin plane path tracking method and a system, wherein the path tracking method comprises the following steps: determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin; determining the advancing thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin; and controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, and updating the current underwater position of the bionic gliding dolphin so as to adjust the underwater motion track of the bionic gliding dolphin and finally enable the motion track to gradually converge on an expected curve formed by pre-planned path points, thereby realizing accurate path tracking of the bionic gliding dolphin.
Description
Technical Field
The invention relates to the technical field of underwater robot control, in particular to a dolphin plane path tracking method and system for a bionic gliding robot.
Background
In nature, marine life develops excellent swimming ability through long-term natural evolution. With the vigorous development of the robot technology, various underwater bionic platforms appear in succession, and a new means and a new way are provided for the research of the bionic propulsion mechanism and the development of the engineering technology. By mimicking the whale dolphin organism, the robotic dolphin exhibits extraordinary mobility by virtue of its efficient swimming pattern.
In recent years, in order to improve the cruising ability of the robotic dolphin, scientific researchers introduce a buoyancy adjusting mechanism, invent the bionic gliding robotic dolphin, so that the robotic dolphin has the advantages of high maneuverability and strong cruising ability, and expand the range of practical application.
The path tracking problem is always a research hotspot of underwater robots, and the aim of the path tracking problem is to generate an expected curve according to a planned path, so that the robot can start from any point, design a tracking controller and gradually converge on the curve. The path tracking technology is an important component of a navigation control system, and has important significance for smoothly completing marine operation.
With respect to the technology, there are many methods widely used in underwater robot research. Fossen et al have designed a line-of-sight navigation method to minimize cross-tracking errors, then have completed controller design based on Backstepping (BP), and have verified algorithm validity through experimentation. Wang et al provide a BP-based tracking controller for biomimetic underwater vehicle circumferential and linear tracking and obtain parameters of actual heave fins through a fuzzy logic model. Sun et al propose a Proportional-integral (PI) Sliding Mode Control (SMC) algorithm, enhance the robustness of the under-actuated underwater robot system, and improve the immunity to interference. Jia et al propose a self-adaptive output feedback controller for the problem of track tracking of an under-actuated underwater robot with specified performance, and verify the effectiveness of the proposed method through simulation. However, the above tracking control method has a problem of unsmooth line-of-sight navigation or a problem of singular yaw angle, thereby causing inaccurate path tracking.
Disclosure of Invention
In order to solve the problems in the prior art, namely to realize accurate path tracking, the invention aims to provide a dolphin plane path tracking method and system for a bionic gliding machine.
In order to solve the technical problems, the invention provides the following scheme:
a bionic gliding machine dolphin plane path tracking method comprises the following steps:
determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin;
determining the advancing thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin;
and controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
Optionally, the determining a target tracking point of the biomimetic gliding dolphin based on the pre-planned path point and the current underwater position of the biomimetic gliding dolphin specifically includes:
for any two adjacent path points pk、pk+1:
Based on the current target tracking point, a motion virtual circle is set by taking the current position of the bionic gliding dolphin under water as the center of a circle and the radius as gamma, and a path point p is takenkAs a circle center and has a radius of RrSetting a target virtual circle:
when the bionic gliding dolphin enters the path point pkIn the target virtual circle, updating the current target tracking point as a motion virtual circle and a straight line segment pkpk+1Until the next path point p when the bionic gliding dolphin enters the bionic gliding dolphink+1Within the target virtual circle of (1).
Optionally, the determining the forward thrust and the yaw moment of the biomimetic gliding robotic dolphin based on the target tracking point and the current underwater position of the biomimetic gliding robotic dolphin specifically includes:
determining a tracking error according to the current position coordinate and a target tracking point, wherein the tracking error variable comprises a target position error and a target yaw angle error;
determining a yaw moment according to the target yaw angle error based on the Lyapunov function;
and determining forward thrust according to the target position error based on the Lyapunov function.
Optionally, the yaw moment τ is determined according to the following formular:
re=r-α1,
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix;which represents the value of the estimate,representing an estimation error; u represents the linear velocity of the plane along the x-axis, v represents the linear velocity of the plane along the y-axis, r represents the angular velocity of the plane z-axis, reIndicates error of angular velocity ueRepresenting the linear velocity error, t represents a time variable; (x, y) is the current position coordinate of the bionic gliding dolphin under water, and psi represents the yaw angle; (x)d,yd) Is the target position coordinate of the bionic gliding dolphin underwater, psidRepresenting a target yaw angle; (x)e,ye) Is the position error of the bionic gliding dolphin underwater, psieRepresenting a target yaw angle error; sign (·) represents a sign function,denotes the derivation, α1Representing a stabilization function, k1、k2Is a manually set normal number, #LIs a normal number used to limit the value range of the state variable.
Alternatively, the forward thrust τ is determined according to the following equationu:
ue=u-α2,
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix;which represents the value of the estimate,representing an estimation error; u represents the linear velocity of the plane along the x-axis, v represents the linear velocity of the plane along the y-axis, r represents the angular velocity of the plane z-axis, reIndicates error of angular velocity ueRepresenting the linear velocity error, t represents a time variable; (x, y) is the current position coordinate of the bionic gliding dolphin under water, and psi represents the yaw angle; (x)d,yd) Is the target position coordinate of the bionic gliding dolphin underwater, psidRepresenting a target yaw angle; (x)e,ye) Is the position error of the bionic gliding dolphin underwater, psieRepresenting a target yaw angle error; e.g. of the typexySigma is less than or equal to the value of sigma and represents a set normal number; k is a radical of1、k2、k3、k4Is a normal number which is set manually,the derivative is represented and the stabilization function is represented.
α2Optionally, the determining the forward thrust and yaw moment of the biomimetic gliding robotic dolphin based on the target tracking point and the current position of the biomimetic gliding robotic dolphin under water further comprises:
using a tracking differentiator for smoothing the derivative of the target tracking point and the stabilization function alpha2So as to correct the advancing thrust of the bionic gliding dolphin.
Optionally, the controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, and updating the current position of the bionic gliding dolphin underwater specifically includes;
determining the underwater dynamic model of the bionic gliding dolphin based on the current underwater position coordinates of the bionic gliding dolphin
Wherein (x, y) is the current position coordinate of the bionic gliding dolphin underwater, psi represents the yaw angle, u represents the linear velocity of the plane along the x axis, v represents the linear velocity of the plane along the y axis, r represents the angular velocity of the plane z axis,representing a derivation;
based on the dynamic model, neglecting pitching and rolling motions to obtain the underwater plane dynamic model of the bionic gliding dolphin
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix; diag (·) denotes a diagonal matrix; tau isuIndicating forward thrust, τrRepresenting a yaw moment;
and controlling and adjusting the plane dynamics model according to the forward thrust and the yaw moment, and updating the current position of the bionic gliding dolphin underwater.
In order to solve the technical problems, the invention also provides the following scheme:
a bionic gliding machine dolphin planar path tracking system, comprising:
the first determining unit is used for determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin;
the second determination unit is used for determining the forward thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin;
and the adjusting unit is used for controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
In order to solve the technical problems, the invention also provides the following scheme:
a bionic gliding machine dolphin planar path tracking system, comprising:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to:
determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin;
determining the advancing thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin;
and controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
In order to solve the technical problems, the invention also provides the following scheme:
a computer-readable storage medium storing one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to:
determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin;
determining the advancing thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin;
and controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
According to the embodiment of the invention, the invention discloses the following technical effects:
the method comprises the steps of positioning the current underwater position of the bionic gliding dolphin in real time, determining a target tracking point of the bionic gliding dolphin and the forward thrust and the yaw moment of the bionic gliding dolphin through a pre-planned path point, controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current underwater position of the bionic gliding dolphin to adjust the underwater motion track of the bionic gliding dolphin, and finally enabling the motion track to gradually converge on an expected curve formed by the pre-planned path point.
Drawings
FIG. 1 is a flow chart of the method for tracking the dolphin plane path of the bionic gliding robot according to the present invention;
FIG. 2 is a schematic diagram of the determination of target tracking points;
FIG. 3 is a schematic block diagram of the bionic gliding dolphin planar path tracking system according to the present invention.
Description of the symbols:
a first determining unit-1, a second determining unit-2, and an adjusting unit-3.
Detailed Description
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
The invention aims to provide a bionic gliding dolphin plane path tracking method, which is characterized in that the current underwater position of the bionic gliding dolphin is positioned in real time, the target tracking point of the bionic gliding dolphin, the advancing thrust and the yaw moment of the bionic gliding dolphin are determined through pre-planned path points, the bionic gliding dolphin is controlled to move underwater according to the advancing thrust and the yaw moment, the current underwater position of the bionic gliding dolphin is updated, the underwater motion track of the bionic gliding dolphin is adjusted, and finally the motion track is gradually converged to an expected curve formed by the pre-planned path points.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in FIG. 1, the bionic gliding robot dolphin plane path tracking method of the invention comprises the following steps:
step 100: and determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin.
Step 200: and determining the advancing thrust and the yawing moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin.
Step 300: and controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
In step 100, an improved gaze guidance method is used to change the selection mode of the gaze point according to the smoothness of the switching phase.
Specifically, as shown in fig. 2, the determining a target tracking point of the biomimetic gliding dolphin based on a pre-planned path point and a current position of the biomimetic gliding dolphin under water includes:
for any two adjacent path points pk、pk+1:
Based on the current target tracking point, a motion virtual circle is set by taking the current position of the bionic gliding dolphin under water as the center of a circle and the radius as gamma, and a path point p is takenkAs a circle center and has a radius of RrSetting a target virtual circle:
when the bionic gliding dolphin enters the path point pkIn the target virtual circle, updating the current target tracking point as a motion virtual circle and a straight line segment pkpk+1Until the next path point p when the bionic gliding dolphin enters the bionic gliding dolphink+1Within the target virtual circle of (1).
Where k 1,2, N-1, N represents the total number of waypoints.
Preferably, in step 200, the determining the forward thrust and the yaw moment of the biomimetic gliding robotic dolphin based on the target tracking point and the current underwater position of the biomimetic gliding robotic dolphin specifically includes:
step 210: determining a tracking error according to the current position coordinate and a target tracking point, wherein the tracking error variable comprises a target position error and a target yaw angle error;
step 220: determining a yaw moment according to the target yaw angle error based on the Lyapunov function;
step 230: and determining forward thrust according to the target position error based on the Lyapunov function.
Determining yaw moment τ according to the following equationr:
re=r-α1,
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix;which represents the value of the estimate,representing an estimation error; u represents the linear velocity of the plane along the x-axis, v represents the linear velocity of the plane along the y-axis, r represents the angular velocity of the plane z-axis, reIndicating error in angular velocity, when t indicatesM.o. ueIndicating a linear velocity error; (x, y) is the current position coordinate of the bionic gliding dolphin under water, and psi represents the yaw angle; (x)d,yd) Is the target position coordinate of the bionic gliding dolphin underwater, psidRepresenting a target yaw angle; (x)e,ye) Is the position error of the bionic gliding dolphin underwater, psieRepresenting a target yaw angle error; sign (·) represents a sign function,denotes the derivation, α1Representing a stabilization function, k1、k2Is a manually set normal number, #LIs a normal number used to limit the value range of the state variable.
Forward thrust τ is determined according to the following equationu:
ue=u-α2,
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix;which represents the value of the estimate,representing an estimation error; u represents the planar linear velocity, v represents the planar linear velocity along the y-axis, r represents the planar z-axis angular velocity, reIndicates error of angular velocity ueRepresenting the linear velocity error, t represents a time variable; (x, y) is the current position coordinate of the bionic gliding dolphin under water, and psi represents the yaw angle; (x)d,yd) Is the target position coordinate of the bionic gliding dolphin underwater, psidRepresenting a target yaw angle; (x)e,ye) Is the position error of the bionic gliding dolphin underwater, psieRepresenting a target yaw angle error; e.g. of the typexySigma is less than or equal to the value of sigma and represents a set normal number; k is a radical of1、k2、k3、k4Is a normal number which is set manually,denotes the derivation, α2A stabilization function is represented.
Further, in step 200, determining the forward thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current position of the bionic gliding dolphin under the water further includes:
using tracking differentiators for smoothing target tracking pointsDerivative and stabilization function alpha2So as to correct the advancing thrust of the bionic gliding dolphin.
Specifically, the derivative of the target tracking point and the stabilization function α are smoothed by a tracking differentiator2By smoothing these two points, stable forward thrust can be obtained.
In step 300, controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, and updating the current position of the bionic gliding dolphin underwater, specifically comprising;
step 310: determining the underwater dynamic model of the bionic gliding dolphin based on the current underwater position coordinates of the bionic gliding dolphin
Wherein (x, y) is the current position coordinate of the bionic gliding dolphin underwater, psi represents the yaw angle, v represents the linear velocity of the plane along the y axis, r represents the angular velocity of the plane z axis,representing a derivation;
step 320: based on the dynamic model, neglecting pitching and rolling motions to obtain the underwater plane dynamic model of the bionic gliding dolphin
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix;diag (·) denotes a diagonal matrix; tau isuIndicating forward thrust, τrRepresenting a yaw moment;
step 330: and controlling and adjusting the plane dynamics model according to the forward thrust and the yaw moment, and updating the current position of the bionic gliding dolphin underwater.
The following describes the bionic gliding robot dolphin plane path tracking method in detail by a specific embodiment:
the bionic gliding dolphin is mainly composed of a waist tail device and pectoral fin devices, waist tail joints are driven by motors, and pectoral fins on two sides are driven by steering engines. In the present invention, the body-caudad fin (BCF) of the lumbar-caudal device is mainly used to provide thrust, and the mid-fin, mid-fin (MPF) of the pectoral device is used to generate steering torque.
The bionic gliding machine dolphin plane path tracking method comprises the following steps:
For the planar path tracking problem, firstly, defining real-time planar coordinates of the robot as (x, y), a yaw angle as ψ, and planar linear velocity and yaw angular velocity vectors as (u, v, r), a kinematic model of the underwater robot can be derived as follows:
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix; diag (·) denotes a diagonal matrix; tau isuAnd τrRepresenting forward thrust and yaw moment, respectively.
And 2, acquiring smooth target tracking points and target yaw angles by improving a sight navigation method.
And 3, designing a yaw controller and a speed controller by deducing a self-adaptive backstepping control law.
In the process, the design of the Lyapunov function is mainly used as a criterion, the convergence of the system is ensured by deducing a backstepping control law, and the specific design principle follows the following steps:
step 3.1, calculating tracking error variables as follows:
wherein (x)d,yd) Representing a target tracking point; psidRepresenting the target yaw angle:
wherein sign (·) represents a sign function;
step 3.2, selecting the yaw angle error as a state variable z according to the tracking error variable1:
The design goal of the controller is to make z1→ 0, for which the Barrier Lyapunov function V is thus defined1:
Wherein psiLIs a normal number used to limit the value range of the state variable. Therefore, when | z1|<ψLWhen said V is1Is positive. Then, define re=r-α1And a stabilizing function alpha1:
Wherein k is1Is a normal number set manually. Applying the said stabilization function alpha1Substitution intoIn (1), obtaining:
step 3.3, in order toConstant negative, therefore continuing to calm reAnd defining a Lyapunov function V2The following were used:
because the model damping parameter is difficult to accurately obtain, the invention provides a self-adaptive control algorithm to estimate the parameter, and the estimated value isDefining estimation errorAnd assuming that the parameter does not change in a short time, i.e.Therefore, the lyapunov function V continues to be defined for the estimation error3The following were used:
determining yaw moment τr:
thus, by defining the parameter estimates as:
Then, according to the following constraints:
(1)V>0;
Step 3.4, according to the sight line navigation method and the tracking error, e can be obtainedxyσ, where σ is a set normal number (e.g., σ is a small normal number). Therefore, in order to exy→ σ, define lieProbov function V4The following were used:
then, define ue=u-α2And a stabilizing function alpha2:
Wherein k is3Is a normal number set manually. By setting an initial yaw angle error, i.e. psi, according to constraintse(0) Less than pi/2, can ensure psie(t) < π/2, t > 0 always holds, thus avoiding cos-1(ψe) The singular phenomenon of (1). Then, by applying a stabilization function α2Substitution intoIn (1), obtaining:
to make it possible toConstant load, continue to calm ueAnd defining a Lyapunov function V5The following were used:
determining forward thrust τu:
Wherein:
k4is a normal number set manually. Obtaining:
Step 3.5, forAnd alpha2And applying a tracking differentiator to make the change smoother so as to reduce the disturbance sensitivity, wherein the discrete form of the tracking differentiator is as follows:
wherein h represents a sampling time; xi1Representing the reference term xir(k) The tracking signal of (2); xi2Is representative of xi1A derivative of (a); fhan (·) represents a constructed nonlinear function; delta0And h0The tracking and filter coefficients are represented separately.
Smoothing derivative of target tracking point and stabilizing function alpha by tracking differentiator2By smoothing these two points, a stable forward thrust is then obtained.
The plane path tracking method of the bionic gliding dolphin machine firstly obtains a plane dynamic model of the gliding dolphin by neglecting pitching and rolling motions. Then, the expected path is converted into a target tracking point and a target yaw angle by using an improved sight line navigation method, and a tracking differentiator is applied to the target tracking point, so that the change of the target tracking point is smoother. And finally, deducing forward thrust and yaw moment by using a backstepping method. The problem of singular yaw angle in a speed control law is solved by designing a Barrier Lyapunov (Barrier Lyapunov) function, adaptive control is applied to unknown model parameters, and control robustness is further improved.
In addition, the invention also provides a bionic gliding machine dolphin plane path tracking system which can realize accurate path tracking.
As shown in fig. 3, the bionic gliding dolphin plane path tracking system of the present invention includes a first determining unit 1, a second determining unit 2 and an adjusting unit 3.
Specifically, the first determining unit 1 is configured to determine a target tracking point of the biomimetic gliding dolphin based on a pre-planned path point and a current underwater position of the biomimetic gliding dolphin;
the second determination unit 2 determines the forward thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin;
the adjusting unit 3 is used for controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
In addition, the invention also provides a bionic gliding robot dolphin plane path tracking system, which comprises:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to:
determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin;
determining the advancing thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin;
and controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
Preferably, the present invention also provides a computer-readable storage medium storing one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to perform operations of:
determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin;
determining the advancing thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin;
and controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
Compared with the prior art, the bionic gliding machine dolphin plane path tracking system and the computer readable storage medium have the same beneficial effects as the bionic gliding machine dolphin plane path tracking method, and are not described again here.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (8)
1. A bionic gliding machine dolphin plane path tracking method is characterized by comprising the following steps:
determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin;
determining the advancing thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin; the method specifically comprises the following steps:
determining a tracking error according to the current position coordinate and a target tracking point, wherein the tracking error variable comprises a target position error and a target yaw angle error;
based on the Lyapunov function, determining the yaw moment tau according to the target yaw angle error and the following formular:
z1=ψe
xe=x-xd
ye=y-yd,
ψe=ψ-ψd
re=r-α1,
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix;which represents the value of the estimate,representing an estimation error; u represents the linear velocity of the plane along the x-axis, v represents the linear velocity of the plane along the y-axis, r represents the angular velocity of the plane z-axis, reIndicates the error of angular velocity ueRepresenting the linear velocity error, t represents a time variable; (x, y) is the current position coordinate of the bionic gliding dolphin under water, and psi represents the yaw angle; (x)d,yd) Is the target position coordinate of the bionic gliding dolphin underwater, psidRepresenting a target yaw angle; (x)e,ye) Is the position error of the bionic gliding dolphin underwater, psieRepresenting a target yaw angle error;sign (·) represents a sign function,denotes the derivation, α1Representing a stabilization function, k1、k2Is a manually set normal number, #LIs a normal number used for limiting the value range of the state variable;
determining forward thrust according to the target position error based on a Lyapunov function;
and controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
2. The method for tracking the planar path of the biomimetic gliding robotic dolphin according to claim 1, wherein the determining the target tracking point of the biomimetic gliding robotic dolphin based on the pre-planned path point and the current underwater position of the biomimetic gliding robotic dolphin specifically comprises:
for any two adjacent path points pk、pk+1:
Based on the current target tracking point, a motion virtual circle is set by taking the current position of the bionic gliding dolphin under water as the center of a circle and the radius as gamma, and a path point p is takenkAs a circle center and has a radius of RrSetting a target virtual circle:
when the bionic gliding dolphin enters the path point pkIn the target virtual circle, updating the current target tracking point as a motion virtual circle and a straight line segment pkpk+1Until the next path point p when the bionic gliding dolphin enters the bionic gliding dolphink+1Within the target virtual circle of (1).
3. The biomimetic gliding machine dolphin planar path tracking method according to claim 1, wherein the forward thrust τ is determined according to the following formulau:
xe=x-xd
ye=y-yd
ψe=ψ-ψd,
z1=ψe
ue=u-α2,
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix;which represents the value of the estimate,representing an estimation error; u represents the linear velocity of the plane along the x-axis, v represents the linear velocity of the plane along the y-axis, r represents the angular velocity of the plane z-axis, reIndicates the error of angular velocity ueRepresenting the linear velocity error, t represents a time variable; (x, y) is the current position coordinate of the bionic gliding dolphin under water, and psi represents the yaw angle; (x)d,yd) Is the target position coordinate of the bionic gliding dolphin underwater, psidRepresenting a target yaw angle; (x)e,ye) Is the position error of the bionic gliding dolphin underwater, psieRepresenting a target yaw angle error; e.g. of the typexySigma is less than or equal to the value of sigma and represents a set normal number; k is a radical of1、k2、k3、k4Is a normal number which is set manually,denotes the derivation, α2A stabilization function is represented.
4. The method for tracking the planar path of the biomimetic gliding robotic dolphin according to claim 3, wherein the determining the forward thrust and yaw moment of the biomimetic gliding robotic dolphin based on the target tracking point and the current position of the biomimetic gliding robotic dolphin under water further comprises:
using a tracking differentiator for smoothing the derivative of the target tracking point and the stabilization function alpha2So as to correct the advancing thrust of the bionic gliding dolphin.
5. The biomimetic gliding machine dolphin planar path tracking method according to any one of claims 1-4, wherein the controlling the biomimetic gliding machine dolphin to move underwater according to the forward thrust and yaw moment, updating a current position of the biomimetic gliding machine dolphin underwater, specifically comprises;
determining the underwater dynamic model of the bionic gliding dolphin based on the current underwater position coordinates of the bionic gliding dolphin
Wherein (x, y) is the current position coordinate of the bionic gliding dolphin underwater, psi represents the yaw angle, u represents the linear velocity of the plane along the x axis, v represents the linear velocity of the plane along the y axis, r represents the angular velocity of the plane z axis,representing a derivation;
based on the dynamic model, neglecting pitching and rolling motions to obtain the underwater plane dynamic model of the bionic gliding dolphin
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix; diag (·) denotes a diagonal matrix; tau isuIndicating forward thrust, τrRepresenting a yaw moment;
and controlling and adjusting the plane dynamics model according to the forward thrust and the yaw moment, and updating the current position of the bionic gliding dolphin underwater.
6. A biomimetic gliding machine dolphin planar path tracking system, comprising:
the first determining unit is used for determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin;
the second determination unit is used for determining the forward thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin; the method specifically comprises the following steps:
determining a tracking error according to the current position coordinate and a target tracking point, wherein the tracking error variable comprises a target position error and a target yaw angle error;
based on the Lyapunov function, determining the yaw moment tau according to the target yaw angle error and the following formular:
xe=x-xd
ye=y-yd,
ψe=ψ-ψd
re=r-α1,
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix;which represents the value of the estimate,representing an estimation error; u representsLinear velocity of the plane along the x-axis, v represents linear velocity of the plane along the y-axis, r represents angular velocity of the plane along the z-axis, reIndicates the error of angular velocity ueRepresenting the linear velocity error, t represents a time variable; (x, y) is the current position coordinate of the bionic gliding dolphin under water, and psi represents the yaw angle; (x)d,yd) Is the target position coordinate of the bionic gliding dolphin underwater, psidRepresenting a target yaw angle; (x)e,ye) Is the position error of the bionic gliding dolphin underwater, psieRepresenting a target yaw angle error; sign (·) represents a sign function,denotes the derivation, α1Representing a stabilization function, k1、k2Is a manually set normal number, #LIs a normal number used for limiting the value range of the state variable;
determining forward thrust according to the target position error based on a Lyapunov function;
and the adjusting unit is used for controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
7. A bionic gliding machine dolphin planar path tracking system, comprising:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to:
determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin;
determining the advancing thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin; the method specifically comprises the following steps:
determining a tracking error according to the current position coordinate and a target tracking point, wherein the tracking error variable comprises a target position error and a target yaw angle error;
based on the Lyapunov function, determining the yaw moment tau according to the target yaw angle error and the following formular:
xe=x-xd
ye=y-yd,
ψe=ψ-ψd
re=r-α1,
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix;which represents the value of the estimate,representing an estimation error; u represents the linear velocity of the plane along the x-axis, v represents the linear velocity of the plane along the y-axis, r represents the angular velocity of the plane z-axis, reIndicates the error of angular velocity ueRepresenting the linear velocity error, t represents a time variable; (x, y) is the current position coordinate of the bionic gliding dolphin under water, and psi represents the yaw angle; (x)d,yd) Is the target position coordinate of the bionic gliding dolphin underwater, psidRepresenting a target yaw angle; (x)e,ye) Is the position error of the bionic gliding dolphin underwater, psieRepresenting a target yaw angle error; sign (·) represents a sign function,denotes the derivation, α1Representing a stabilization function, k1、k2Is a manually set normal number, #LIs a normal number used for limiting the value range of the state variable;
determining forward thrust according to the target position error based on a Lyapunov function;
and controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
8. A computer-readable storage medium storing one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to:
determining a target tracking point of the bionic gliding dolphin based on a pre-planned path point and the current underwater position of the bionic gliding dolphin;
determining the advancing thrust and yaw moment of the bionic gliding dolphin based on the target tracking point and the current underwater position of the bionic gliding dolphin; the method specifically comprises the following steps:
determining a tracking error according to the current position coordinate and a target tracking point, wherein the tracking error variable comprises a target position error and a target yaw angle error;
based on the Lyapunov function, determining the yaw moment tau according to the target yaw angle error and the following formular:
xe=x-xd
ye=y-yd,
ψe=ψ-ψd
re=r-α1,
Wherein M ═ diag (M)11,m22,m33) Representing a quality parameter matrix; d ═ diag (D)11,d22,d33) Representing a damping parameter matrix;which represents the value of the estimate,representing an estimation error; u represents the linear velocity of the plane along the x-axis, v represents the linear velocity of the plane along the y-axis, r represents the angular velocity of the plane z-axis, reIndicates the error of angular velocity ueRepresenting the linear velocity error, t represents a time variable; (x, y) is the current position coordinate of the bionic gliding dolphin under water, and psi represents the yaw angle; (x)d,yd) Is the target position coordinate of the bionic gliding dolphin underwater, psidRepresenting a target yaw angle; (x)e,ye) Is the position error of the bionic gliding dolphin underwater, psieRepresenting a target yaw angle error; sign (·) represents a sign function,denotes the derivation, α1Representing a stabilization function, k1、k2Is a manually set normal number, #LIs a normal number used for limiting the value range of the state variable;
determining forward thrust according to the target position error based on a Lyapunov function;
and controlling the bionic gliding dolphin to move underwater according to the forward thrust and the yaw moment, updating the current position of the bionic gliding dolphin underwater, and finally enabling the motion track of the bionic gliding dolphin underwater to gradually converge on an expected curve formed by pre-planned path points.
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