CN112379671A - Simulation calculation method for position of unmanned ship - Google Patents
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Abstract
The invention discloses a simulated calculation method for the position of an unmanned ship, which realizes the simulation of a motion scene of the unmanned ship in water and the calculation of the position and the speed of the unmanned ship by simulating the thrust calculation of a propeller of the unmanned ship, simplifies the calculation process, is more convenient for research personnel to research the motion control of the unmanned ship, improves the development efficiency, and can be applied to the field of motion simulation of the unmanned ship.
Description
Technical Field
The invention relates to the technical field of simulated reckoning of positions of unmanned ships, in particular to a simulated reckoning method of the positions of the unmanned ships.
Background
The unmanned ship is an unmanned ocean intelligent carrying platform, can be applied to military and civil fields such as maritime search and rescue, water quality monitoring and anti-terrorism investigation, and is widely concerned because the unmanned ship can execute low-cost, high-efficiency and unmanned operation tasks. In order to realize autonomous operation of the unmanned ship on the sea, the rapidity, the accuracy and the robustness of the unmanned ship motion control need to be improved urgently, and a ship motion mathematical model is the core of the research field of ship motion control. In order to promote the research and development of the unmanned ship, a convenient and quick ship body motion model is needed to be adopted to simulate the motion of the unmanned ship, so that the calculation of the position of the unmanned ship is very important for the research and development of the unmanned ship control system.
Disclosure of Invention
The invention solves the technical problem of providing a simulated reckoning method for the position of an unmanned ship, which simulates and reckoning the position and the speed of the unmanned ship by simulating the motion scene of the unmanned ship in water and can be applied to the field of unmanned ship motion simulation.
The technical scheme adopted by the invention specifically comprises the following contents:
a simulated reckoning method for the position of an unmanned ship comprises the following steps:
s1: acquiring the thrust magnitude and the thrust direction of each unmanned ship propeller based on the control command information of each unmanned ship propeller on the unmanned ship;
s2: acquiring the total thrust of the unmanned ship propeller on the unmanned ship based on the thrust magnitude and the thrust direction of each unmanned ship propeller;
s3: acquiring the hydrodynamic force of the unmanned ship based on the model parameters of the unmanned ship and the speed of the unmanned ship relative to the water flow;
s4: and acquiring the position information of the unmanned ship based on the total thrust of the unmanned ship propeller to the unmanned ship and the hydrodynamic force of the unmanned ship.
Preferably, the control command information includes a desired thrust value, a desired thrust direction, a maximum thrust value, a maximum thrust direction, a minimum thrust value and a minimum thrust direction of each unmanned ship propeller to the unmanned ship.
Preferably, the thrust of each propeller of the unmanned ship is TiAnd is and
wherein: t isiexpIs the desired thrust value, T, of the ith thrusterimaxIs the maximum thrust value, T, of the ith propelleriminIs the minimum thrust value of the ith thruster;
the thrust direction of each propeller of the unmanned ship is qi，
And is
Wherein: q. q.siexpDesired thrust direction of the i-th propeller, qimaxThe maximum thrust direction of the ith propeller, qiminIs the minimum thrust direction of the ith propeller.
Preferably, the step of acquiring the total thrust of the unmanned ship thruster system to the unmanned ship based on the thrust magnitude and the thrust direction of each unmanned ship thruster comprises the following steps:
s21: the thrust of each unmanned ship propeller to the unmanned ship is calculated based on the thrust size and the thrust direction of each unmanned ship propeller, and the thrust of the unmanned ship propeller to the unmanned ship comprises longitudinal thrust, transverse thrust and heading thrust moment, and specifically comprises the following steps: xi＝Ti×cos(qi),Yi＝-Ti×sin(qi),Ni＝-Xi×lyi-Yi×lxiWherein: xiLongitudinal thrust of the unmanned ship for the i-th unmanned ship propeller, YiTransverse thrust of the unmanned ship for the i-th unmanned ship propeller, NiFor the propulsion of the unmanned ship to the heading thrust moment of the unmanned ship, |xiIs a longitudinal force arm of a propeller of the unmanned shipyiIs a transverse force arm of the unmanned ship;
s22: based on the thrust of each unmanned ship propeller to the unmanned ship, the total thrust of the unmanned ship propeller to the unmanned ship is calculated, and the total thrust of the unmanned ship propeller to the unmanned ship comprises a longitudinal total thrust, a transverse total thrust and a heading total thrust moment, and specifically comprises the following steps:
wherein: xPIndicating total longitudinal thrust, YPIndicating total thrust in the transverse direction, NPIndicating the total heading thrust moment and n indicating the number of unmanned ship propellers.
Preferably, the hydrodynamic force of the unmanned ship comprises inertial hydrodynamic force and viscous hydrodynamic force, and the acquiring the hydrodynamic force of the unmanned ship based on the model parameters of the unmanned ship and the speed of the unmanned ship relative to the water flow comprises the following steps:
s31: calculating inertial hydrodynamic force based on model parameters of the unmanned ship, wherein the inertial hydrodynamic force comprises a longitudinal additional mass mxTransverse additional mass myAnd an additional moment of inertia Izz、JzzAnd add mass m longitudinallyxTransverse additional mass myAnd an additional moment of inertia Izz、JzzAnd calculating by using the ship separation type motion model.
S32: calculating a viscous hydrodynamic force based on model parameters of the unmanned ship and a velocity of the unmanned ship relative to the water flow, the viscous hydrodynamic force comprising a longitudinal force X of the unmanned shipHTransverse force YHAnd heading moment NHAnd longitudinal moment XHTransverse moment YHAnd heading moment NHAnd performing hydrodynamic calculation by using the aboveground model to obtain the model.
Preferably, the acquiring the position information of the unmanned ship based on the total thrust of the unmanned ship propeller to the unmanned ship and the hydrodynamic force of the unmanned ship comprises the following steps:
s41: the acceleration of the unmanned ship is calculated based on the total thrust of the unmanned ship propeller to the unmanned ship, the inertia hydrodynamic force of the unmanned ship and the viscosity hydrodynamic force of the unmanned ship, and the method specifically comprises the following steps:
wherein: m, mx、myRespectively representing the mass, the longitudinal additional mass and the transverse additional mass of the ship;
respectively representing the longitudinal acceleration, the transverse acceleration and the heading acceleration of the unmanned ship; u. ofr、υrRepresenting the longitudinal and lateral velocity of the unmanned vessel relative to the water flow; u. ofc、υcRepresenting the flow velocity component under a ship body coordinate system; r represents the heading speed of the unmanned ship; xH(ur,υr,r)、YH(ur,υr,r)、NH(ur,υrR) respectively representing hydrodynamic forces and moments of the hull in the longitudinal direction, the transverse direction and the heading direction under the action of the flow velocity, and specifically calculating by referring to a formula (1), wherein the input of a velocity term in the formula is relative flow velocity; xP、YP、NPRespectively representing the longitudinal thrust, the transverse thrust and the heading moment of the propeller acting on the hull. According to the existing research, the specific calculation mode of the parameters can refer to an empirical expression of the stress of the ship body in still water.
S42: the speed of the unmanned ship is calculated based on the acceleration of the unmanned ship, and the method specifically comprises the following steps:
wherein: u. oft、υtAnd rtRespectively representing the longitudinal speed, the transverse speed and the heading speed of the unmanned ship at the time t; u. oft-1、υt-1And rt-1Respectively representing the longitudinal speed, the transverse speed and the heading speed of the unmanned ship at the moment (t-1);
is the unit movement time of the unmanned ship.
S43: calculating the position of the unmanned ship based on the speed of the unmanned ship, specifically:
wherein: x is the number oft、ytAnd psitRespectively a north position, an east position and a heading angle of the unmanned ship under a geodetic coordinate system at the time t; x is the number oft-1、yt-1And psit-1Respectively the north position, the east position and the heading angle of the unmanned ship under the geodetic coordinate system at the time of (t-1).
Compared with the prior art, the invention has the beneficial effects that:
the simulated reckoning method of the unmanned ship position determines the position information of the unmanned ship according to the installation position of the unmanned ship propeller, control command information and the like, improves the calculation of interference force between paddles and rudders, simplifies the calculation mode of the thrust force of the unmanned ship propeller, regards the interference and the thrust force between a plurality of unmanned ship propellers as a propulsion subsystem, approximates the hydrodynamic force and the interference force generated by a single propeller to the percentage of the upper limit and the lower limit of the thrust force, namely the output thrust force value, and finally calculates the total thrust force and moment to reckon the speed and the position of the unmanned ship, and compared with an original separation type Motion Model (MMG) method, the simulated reckoning method can be suitable for reckoning the position of the unmanned ship without actual unmanned ship propeller parameter research and development conditions; the simulation calculation method can realize unmanned ship position simulation as soon as possible, simplifies thrust interference, improves calculation convenience and reduces calculation complexity.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic flow chart of a simulated dead reckoning method for the position of an unmanned ship according to the present invention;
FIG. 2 is a schematic view of the velocity of the unmanned ship relative to the water flow;
FIG. 3 is a schematic illustration of unmanned ship propulsion versus unmanned ship thrust;
fig. 4 is a schematic geodetic coordinate system of the unmanned ship.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects according to the present invention with reference to the accompanying drawings and preferred embodiments is as follows:
as shown in fig. 1, the method for simulating and reckoning the position of the unmanned ship disclosed by the invention comprises the following steps:
s1: acquiring the thrust magnitude and the thrust direction of each unmanned ship propeller based on the control command information of each unmanned ship propeller on the unmanned ship;
s2: acquiring the total thrust of the unmanned ship propeller on the unmanned ship based on the thrust magnitude and the thrust direction of each unmanned ship propeller;
s3: acquiring the hydrodynamic force of the unmanned ship based on the model parameters of the unmanned ship and the speed of the unmanned ship relative to the water flow;
s4: the position information of the unmanned ship is obtained based on the total thrust of the unmanned ship propeller on the unmanned ship and the hydrodynamic force of the unmanned ship, the interference between the paddles and the rudders is ignored by the simulation calculation method, and the calculation is simple and high in accuracy.
The invention mainly improves a Ship separation type motion Mathematical Model which is proposed by a research Group (MMG for short) of the Japan towing tank Committee (ITTC) in the last 70 th century, so the Ship separation type Mathematical Model can be also called as the MMG Model for short. The MMG model decomposes the hydrodynamic force and moment acting on the hull into forces and moments on the ship, the paddle and the rudder, i.e. the model not only needs to study the performance of the ship and the fluid, but also relates to the hydrodynamic force generated by the propeller and hydrodynamic interference between the paddle and the rudder. Although the MMG model can accurately represent the mathematical models of the propulsion systems such as the configuration of the propeller and the rudder, higher theoretical analysis and actual research are needed, the research difficulty is high for the research conditions such as no real ship, the need of frequently simulating different propulsion modes or the lack of accurate propeller parameters, and the thrust calculation mode of the original MMG model has the characteristics of convenience and quickness.
In order to realize convenient, rapid and accurate simulation of unmanned ship movement, the technical scheme of the invention simplifies the force and moment calculation mode of a propulsion system, combines the interference and thrust between the propellers into a subsystem, and calculates the speed and position of a ship body by using the total thrust and moment.
Preferably, the control command information includes a desired thrust value, a desired thrust direction, a maximum thrust value, a maximum thrust direction, a minimum thrust value and a minimum thrust direction of each unmanned ship propeller to the unmanned ship.
Preferably, the thrust of each unmanned ship propeller is TiAnd is and
wherein: t isiexpIs the desired thrust value, T, of the i-th unmanned ship propellerimaxIs the maximum thrust value, T, of the i-th unmanned ship propelleriminThe minimum thrust value of the ith unmanned ship propeller is obtained;
the thrust direction of each unmanned ship propeller is qi，
And is
Wherein: q. q.siexpIs the desired thrust direction of the i-th unmanned ship propeller, qimaxIs the maximum thrust direction of the i-th unmanned ship propeller, qiminIs the minimum thrust direction of the ith unmanned ship propeller.
Preferably, the step of acquiring the total thrust of the unmanned ship propeller on the unmanned ship based on the thrust magnitude and the thrust direction of each unmanned ship propeller comprises the following steps:
s21: calculating the thrust of each propeller acting on the unmanned ship based on the thrust size and the thrust direction of each propeller carried on the unmanned ship, wherein the thrust comprises longitudinal thrust, transverse thrust and heading thrust moment, and as shown in figure 3, the schematic diagram of the unmanned ship propeller on the unmanned ship thrust is shown, and the longitudinal thrust, the transverse thrust and the heading thrust moment are specifically as follows: xi＝Ti×cos(qi),Yi＝-Ti×sin(qi),Ni＝-Xi×lyi-Yi×lxiWherein: xiLongitudinal thrust of the i-th thruster to the unmanned ship, YiTransverse thrust of the i-th thruster to the unmanned ship, NiFor the propulsion of the unmanned shipxiIs the longitudinal arm of the ith propeller,/yiIs a transverse force arm of the ith propeller;
s22: based on the thrust of each propeller to the unmanned ship, the total thrust of the propeller system to the unmanned ship is calculated, and the total thrust comprises a longitudinal total thrust, a transverse total thrust and a heading total thrust moment, and specifically comprises the following steps:
wherein: xPIndicating total longitudinal thrust, YPIndicating total thrust in the transverse direction, NPIndicating the total heading thrust moment and n indicating the number of unmanned ship propellers.
Preferably, the hydrodynamic force of the unmanned ship comprises inertial hydrodynamic force and viscous hydrodynamic force, and the acquiring the hydrodynamic force of the unmanned ship based on the model parameters of the unmanned ship and the speed of the unmanned ship relative to the water flow comprises the following steps:
s31: calculating inertial hydrodynamic force based on model parameters of the unmanned ship, wherein the inertial hydrodynamic force comprises a longitudinal additional mass mxTransverse additional mass myAnd an additional moment of inertia Izz、JzzAnd add mass m longitudinallyxTransverse additional mass myAnd an additional moment of inertia Izz、JzzThe ship separation type motion model is obtained by calculation, and the specific calculation formula is as follows:
wherein: m represents the ship mass, L represents the ship length, B represents the ship width, d represents the draft, CbThe square coefficient is represented, and r represents the water density.
S32: calculating a viscous hydrodynamic force based on model parameters of the unmanned ship and a velocity of the unmanned ship relative to the water flow, the viscous hydrodynamic force comprising a longitudinal force X of the unmanned shipHTransverse force YHAnd heading moment NHAnd longitudinal moment XHTransverse moment YHAnd heading moment NHThe method is obtained by utilizing an aboveground model to carry out hydrodynamic calculation, and the specific calculation formula is as follows:
XH＝X(u)+Xuuu2+Xurur+Xrrr2
YH＝Yuu+Yrr+Y|u|u|u|u+Y|u|r|u|r+Y|r|r|r|r
NH＝Nuu+Nrr+N|u|u|u|u+Nuuru2r+Nurrur2
wherein: x (u), Xuu、Xur、XrrIs the longitudinal hydrodynamic derivative; y isu、Yr、Y|u|u、Y|u|r、Y|r|rIs the lateral hydrodynamic derivative; n is a radical ofu、Nr、N|u|u、Nuur、NurrFor the derivative of the heading hydrodynamic force, the specific calculation mode of the hydrodynamic parameters can refer to a ship motion mathematical model of Jiaxin.
Preferably, the acquiring the position information of the unmanned ship based on the total thrust of the unmanned ship propeller to the unmanned ship and the hydrodynamic force of the unmanned ship comprises the following steps:
s41: calculating the acceleration of the unmanned ship based on the total thrust of the unmanned ship propeller to the unmanned ship, the inertial hydrodynamic force of the unmanned ship and the viscous hydrodynamic force of the unmanned ship, as shown in fig. 2, which is a schematic diagram of the velocity of the unmanned ship relative to the water flow, the acceleration of the unmanned ship is specifically:
wherein: m, mx、myRespectively representing the mass, the longitudinal additional mass and the transverse additional mass of the ship;
respectively representing the longitudinal acceleration, the transverse acceleration and the heading acceleration of the unmanned ship; u. ofr、υrRepresenting the longitudinal and lateral velocity of the unmanned vessel relative to the water flow; u. ofc、υcRepresenting the flow velocity component under a ship body coordinate system; r represents the heading speed of the unmanned ship; xH(ur,υr,r)、YH(ur,υr,r)、NH(ur,υrR) respectively representing hydrodynamic forces and moments of the hull in the longitudinal direction, the transverse direction and the heading direction under the action of the flow velocity, and specifically calculating by referring to a formula (1), wherein the input of a velocity term in the formula is relative flow velocity; xP、YP、NPRespectively representing the longitudinal thrust, the transverse thrust and the heading moment of the propeller acting on the hull. According to the existing research, the specific calculation mode of the parameters can refer to an empirical expression of the stress of the ship body in still water.
S42: the speed of the unmanned ship is calculated based on the acceleration of the unmanned ship, and the method specifically comprises the following steps:
wherein: u. oft、υtAnd rtRespectively representing the longitudinal speed, the transverse speed and the heading speed of the unmanned ship at the time t; u. oft-1、υt-1And rt-1Respectively representing the longitudinal speed, the transverse speed and the heading speed of the unmanned ship at the moment (t-1);
is the unit movement time of the unmanned ship.
S43: calculating the position of the unmanned ship based on the speed of the unmanned ship, specifically:
wherein: x is the number oft、ytAnd psitRespectively a north position, an east position and a heading angle of the unmanned ship under a geodetic coordinate system at the time t; x is the number oft-1、yt-1And psit-1Respectively the north position, the east position and the heading angle of the unmanned ship in the geodetic coordinate system at the time of (t-1), as shown in FIG. 4A geodetic coordinate system schematic of the unmanned ship.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (6)
1. A simulated reckoning method for the position of an unmanned ship is characterized by comprising the following steps:
s1: acquiring the thrust magnitude and the thrust direction of each unmanned ship propeller based on the control command information of each unmanned ship propeller on the unmanned ship;
s2: acquiring the total thrust of the unmanned ship propeller on the unmanned ship based on the thrust magnitude and the thrust direction of each unmanned ship propeller;
s3: acquiring the hydrodynamic force of the unmanned ship based on the model parameters of the unmanned ship and the speed of the unmanned ship relative to the water flow;
s4: and acquiring the position information of the unmanned ship based on the total thrust of the unmanned ship propeller to the unmanned ship and the hydrodynamic force of the unmanned ship.
2. The simulated dead reckoning method of claim 1, wherein the control command information includes a desired thrust value, a desired thrust direction, a maximum thrust value, a maximum thrust direction, a minimum thrust value, and a minimum thrust direction of each unmanned ship propeller to the unmanned ship.
3. The dead reckoning simulation method according to claim 2, wherein each of the thrusters of the unmanned ship has a thrust magnitude of TiAnd is and
wherein: t isiexpIs the desired thrust value, T, of the i-th unmanned ship propellerimaxIs the maximum thrust value, T, of the i-th unmanned ship propelleriminThe minimum thrust value of the ith unmanned ship propeller is obtained;
the thrust direction of each unmanned ship propeller is qi，
And is
Wherein: q. q.siexpIs the desired thrust direction of the i-th unmanned ship propeller, qimaxIs the maximum thrust direction of the i-th unmanned ship propeller, qiminIs the minimum thrust direction of the ith unmanned ship propeller.
4. The simulated estimation method according to claim 3, wherein the step of obtaining the total thrust of the unmanned ship propeller to the unmanned ship based on the thrust magnitude and the thrust direction of each unmanned ship propeller comprises the following steps:
s21: the thrust of each unmanned ship propeller to the unmanned ship is calculated based on the thrust size and the thrust direction of each unmanned ship propeller, and the thrust of the unmanned ship propeller to the unmanned ship comprises longitudinal thrust, transverse thrust and heading thrust moment, and specifically comprises the following steps: xi＝Ti×cos(qi),Yi＝-Ti×sin(qi),Ni＝-Xi×lyi-Yi×lxiWherein: xiLongitudinal thrust of the unmanned ship for the i-th unmanned ship propeller, YiTransverse thrust of the unmanned ship for the i-th unmanned ship propeller, NiFor the propulsion of the unmanned ship to the heading thrust moment of the unmanned ship, |xiIs a longitudinal force arm of a propeller of the unmanned shipyiIs a transverse force arm of the unmanned ship;
s22: based on the thrust of each unmanned ship propeller to the unmanned ship, the total thrust of the unmanned ship propeller to the unmanned ship is calculated, and the total thrust of the unmanned ship propeller to the unmanned ship comprises a longitudinal total thrust, a transverse total thrust and a heading total thrust moment, and specifically comprises the following steps:
wherein: xPIndicating total longitudinal thrust, YPIndicating total thrust in the transverse direction, NPIndicating total thrust of headingThe moment, n, represents the number of unmanned ship propellers.
5. The dead reckoning simulation method of claim 4, wherein the unmanned ship's hydrodynamic force comprises inertial hydrodynamic force and viscous hydrodynamic force, and the step of obtaining the unmanned ship's hydrodynamic force based on the model parameters of the unmanned ship and the unmanned ship's velocity relative to the water flow comprises the steps of:
s31: calculating inertial hydrodynamic force based on model parameters of the unmanned ship, wherein the inertial hydrodynamic force comprises a longitudinal additional mass mxTransverse additional mass myAnd an additional moment of inertia Izz、JzzAnd add mass m longitudinallyxTransverse additional mass myAnd an additional moment of inertia Izz、JzzCalculating by using a ship separation type motion model;
s32: calculating a viscous hydrodynamic force based on model parameters of the unmanned ship and a velocity of the unmanned ship relative to the water flow, the viscous hydrodynamic force comprising a longitudinal moment X of the unmanned shipHTransverse moment YHAnd heading moment NHAnd longitudinal moment XHTransverse moment YHAnd heading moment NHAnd performing hydrodynamic calculation by using the aboveground model to obtain the model.
6. The dead reckoning simulation method as claimed in claim 5, wherein the step of obtaining the position information of the unmanned ship based on the total thrust of the unmanned ship propeller to the unmanned ship and the hydrodynamic force of the unmanned ship comprises the steps of:
s41: the acceleration of the unmanned ship is calculated based on the total thrust of the unmanned ship propeller to the unmanned ship, the inertia hydrodynamic force of the unmanned ship and the viscosity hydrodynamic force of the unmanned ship, and the method specifically comprises the following steps:
wherein: m, mx、myRespectively representing the mass, the longitudinal additional mass and the transverse additional mass of the ship;
respectively representing the longitudinal acceleration, the transverse acceleration and the heading acceleration of the unmanned ship; u. ofr、υrRepresenting the longitudinal and lateral velocity of the unmanned vessel relative to the water flow; u. ofc、υcRepresenting the flow velocity component under a ship body coordinate system; r represents the heading speed of the unmanned ship; xH(ur,υr,r)、YH(ur,υr,r)、NH(ur,υrR) respectively representing the hydrodynamic force and the moment of the hull in the longitudinal direction, the transverse direction and the heading direction under the action of the flow velocity, and referring to an aboveground model, wherein the velocity term in the formula is input as a relative flow velocity; xP、YP、NPRespectively representing the longitudinal thrust, the transverse thrust and the heading moment of the propeller acting on the hull. According to the existing research, the specific calculation mode of the parameters can refer to an empirical expression of the stress of the ship body in still water.
S42: the speed of the unmanned ship is calculated based on the acceleration of the unmanned ship, and the method specifically comprises the following steps:
wherein: u. oft、υtAnd rtRespectively representing the longitudinal speed, the transverse speed and the heading speed of the unmanned ship at the time t; u. oft-1、υt-1And rt-1Respectively representing the longitudinal speed, the transverse speed and the heading speed of the unmanned ship at the moment (t-1);
is the unit movement time of the unmanned ship.
S43: calculating the position of the unmanned ship based on the speed of the unmanned ship, specifically:
wherein: x is the number oft、ytAnd psitRespectively a north position, an east position and a heading angle of the unmanned ship under a geodetic coordinate system at the time t; x is the number oft-1、yt-1And psit-1Respectively the north position, the east position and the heading angle of the unmanned ship under the geodetic coordinate system at the time of (t-1).
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