CN112947400A - Water surface remote control homing control method for offshore unmanned system - Google Patents
Water surface remote control homing control method for offshore unmanned system Download PDFInfo
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Abstract
The invention relates to a water surface remote control homing control method for an offshore unmanned system, which comprises the following steps: and after the iridium module or the radio carried by the offshore unmanned system receives the command information, the task content is analyzed and updated, and then the new task is decomposed into specific behaviors with operability and is executed in sequence. Therefore, online task re-planning based on iridium short messages or radio is realized, the technical requirement of the offshore unmanned system for on-line re-planning of tasks is met, and technical guarantee is provided for the reliability, safety and flexibility of the offshore unmanned system.
Description
Technical Field
The invention belongs to the technical field of underwater robot control, and particularly relates to a water surface remote control homing control method for an offshore unmanned system.
Background
The offshore unmanned system has the advantages that due to the fact that wind, waves, gushes, currents and the like on the sea surface constantly change, the mother ship is difficult to approach the offshore unmanned system to carry out recovery operation, high-precision control of the offshore unmanned system is very difficult, and therefore research on the water surface return control technology of the offshore unmanned system has practical significance and application value.
With the increasing application of unmanned offshore systems and the increasing times of outfield tests, the convenient, fast, time-saving and labor-saving recovery of water surface becomes an important technical problem which needs to be considered. In the past, when the offshore unmanned system is operated, the offshore unmanned system floats on the water surface in a positive buoyancy state, waits for a mother ship to maneuver and sail nearby, and the mother ship must be positioned at an upwind countercurrent position to prevent the collision between the mother ship and the offshore unmanned system; when the sea condition is not good and the surge is too large, the mother ship is difficult to keep good position and posture, at the moment, if the marine unmanned system has a water surface navigation function, the marine unmanned system can navigate to a better position away from the mother ship through autonomous navigation or manual teleoperation, and meanwhile, the marine unmanned system and the mother ship keep a safe distance, so that the mother ship can conveniently recover the marine unmanned system.
Therefore, a simple and practical marine unmanned system water surface remote control return control strategy is researched, the problem of marine unmanned system water surface return is solved, the autonomous return capability of the marine unmanned system is improved, and the marine unmanned system water surface remote control return control strategy is an important practical problem to be solved in the current marine unmanned system water surface remote control operation.
Disclosure of Invention
Based on the background, the invention provides a water surface remote control return control strategy for the offshore unmanned system, aiming at the defect that the mother ship needs to be in maneuvering proximity mostly when the existing offshore unmanned system is recovered, so that the offshore unmanned system can be quickly returned to the position near the mother ship, the safe distance between the offshore unmanned system and the mother ship can be kept through remote operation when the sea condition is poor, the recovery operation of the offshore unmanned system by the mother ship is facilitated, and the overall operation efficiency of the offshore unmanned system is improved.
The technical scheme adopted by the invention for solving the problems is as follows: a remote control method for controlling water surface homing of an offshore unmanned system comprises the following steps: the offshore unmanned system communicates with the mother ship or a shore base station control console, and analyzes and updates a homing task instruction according to the distance between the offshore unmanned system and the mother ship or the shore base station remote control console and the sea condition: and the self-control, semi-self-control and manual control steps are respectively adopted to realize the return to the mother ship.
The communication between the offshore unmanned system and the mother ship or the shore base station control station is realized by iridium or radio.
The autonomous control, semi-autonomous control and manual control are respectively adopted to realize the navigation back to the mother ship, and the navigation back to the mother ship is divided according to the distance between the offshore unmanned system and the mother ship: adopting an autonomous control step when the distance between the offshore unmanned system and the mother ship is beyond the visual range; and when the distance between the offshore unmanned system and the mother ship is the visual distance, adopting a semi-autonomous control or manual control step.
The step of employing autonomous control comprises:
detecting whether the actual position of the offshore unmanned system reaches the target point position in real time according to the position of the given target point to form closed-loop control;
detecting the actual track of the offshore unmanned system in real time according to the given track, and navigating according to the preset track to form closed-loop control;
and detecting whether the actual speed and the actual course of the unmanned offshore system reach preset values in real time according to the given speed and the given course to form closed-loop control.
The real-time detection of whether the actual position of the offshore unmanned system reaches the target point position according to the given target point position to form closed-loop control comprises the following steps:
the target navigation speed and the target position are given, the marine unmanned system collects the position of the marine unmanned system in real time through a navigation sensor carried by the marine unmanned system, calculates a target course angle according to the position of the marine unmanned system and the target position and outputs the target course angle to a steering engine, controls an attitude sensor carried by the marine unmanned system to detect the course angle of the marine unmanned system in real time, and adjusts the error between the course angle of the marine unmanned system and the target course angle through a course controller and calculates the angle value of the steering engine, so that the marine unmanned system is controlled to return to.
The real-time detection of the actual track of the offshore unmanned system according to the given track and the sailing according to the preset track to form closed-loop control comprises the following steps:
the real-time position distance to the track is calculated according to the given target speed and the target course, the motion controller of the marine unmanned system controls a navigation sensor carried by the motion controller to acquire the self position in real time, the target course angle is calculated according to the self position and the target position and is output to a steering engine, the error between the self course angle and the target course angle is adjusted through a course controller, the angle value of the steering engine is calculated, and the marine unmanned system is controlled to return to the mother ship according to the given track within the given target navigation time.
The method for detecting whether the actual speed and the actual course of the unmanned offshore system reach preset values in real time according to the given speed and the given course to form closed-loop control comprises the following steps:
the offshore unmanned system acquires the self-navigation speed in real time according to the carried speed sensor, adjusts the error between the self-navigation speed and the given target navigation speed through the speed controller, calculates the target rotating speed value of the motor of the main propeller, and controls the offshore unmanned system to return to the mother ship within the given target navigation time;
the marine unmanned system obtains a self course angle in real time according to the carried attitude sensor, adjusts the error between the self course angle and a given target course angle through a course controller, calculates a target angle value of the steering engine, and controls the marine unmanned system to return to the mother ship within the given target navigation time.
The semi-autonomous control step includes:
the offshore unmanned system acquires the self-navigation speed in real time according to the carried speed sensor, adjusts the error between the self-navigation speed and the given target navigation speed through the speed controller, calculates the target rotating speed value of the motor of the main propeller, and controls the offshore unmanned system to autonomously return to the mother ship on the water surface according to the given target value;
the offshore unmanned system obtains a self course angle in real time according to the carried attitude sensor, adjusts the error between the self course angle and a given target course angle through a course controller, calculates a target angle value of the steering engine, and controls the offshore unmanned system to autonomously return to the mother ship on the water surface according to the given target value.
The step of manually controlling comprises:
the offshore unmanned system directly acts on the steering engine and the main propeller of the offshore unmanned system according to the received steering engine angle value and the motor rotating speed value of the main propeller, and the offshore unmanned system can return to the mother ship.
The invention has the following beneficial effects and meanings:
1. the remote control sailing method divides the water surface control sailing strategy into three control strategies, namely autonomous control, semi-autonomous control, manual control and the like, and adopts different control strategies to carry out sailing according to the distance between the mother ship and the offshore unmanned system, so that the requirement of quick sailing of the offshore unmanned system is met.
2. The invention utilizes the closed-loop return control strategy of the flight path of the offshore unmanned system to realize the return of the water surface according to the set flight path, thereby having certain anti-flow function and leading the system to have good anti-interference performance and robustness.
3. The invention stipulates that different homing control strategies are adopted when the beyond visual range and the within visual range are exceeded, enlarges the scope of homing action compared with the simple manual operation, and can be conveniently and rapidly applied to actual engineering.
Drawings
FIG. 1 is a flowchart illustrating a homing control process according to the present invention;
FIG. 2 is a block diagram I of the autonomous return control system of the present invention;
FIG. 3 is a block diagram II of the autonomous return control system of the present invention;
FIG. 4 is a speed structure diagram of the semi-autonomous return control system of the present invention;
FIG. 5 is a schematic view of the semi-autonomous cruise control system of the present invention;
fig. 6 is a structural diagram of the manual control homing control system of the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
The invention relates to a water surface remote control homing control strategy for an offshore unmanned system, which comprises the following contents:
1. the offshore unmanned system achieves a positive buoyancy state after completing a mission and floats on the sea surface freely, the iridium satellite and the radio are powered on and opened by the offshore unmanned system automatically, a remote control command of a water surface remote control station arranged on a mother ship or a shore base can be received, and an operator can measure and calculate the distance between the operator and the mother ship or the shore base according to the position information of the offshore unmanned system; an iridium satellite or a radio communication mode is selected according to the distance, the iridium satellite can communicate at any distance, but the communication frequency is low; the wireless action distance is short but the communication frequency is high, and the water surface control station can send a remote control command signal to the offshore unmanned system through the wireless communication only after receiving the wireless position information. The remote control return flight commands that can be issued are mainly three, namely autonomous return flight, semi-autonomous return flight and hand-operated return flight, and the control flow is shown in fig. 1. The following describes three different homing modes.
2. Autonomous return control
When the offshore unmanned system is beyond the visual range of the mother ship or the shore base, the longitude and latitude position of the target point is given through the iridium satellite or the radio. The beyond-the-horizon is defined as the distance beyond which the human eye cannot see clearly, and is a preset value.
The autonomous homing command mainly comprises three types, respectively: target point closed loop, track closed loop, constant speed orientation.
(1) The target point closed loop mainly gives a target navigational speed and a target position, the offshore unmanned system receives self-position information in real time, and controls the self-course angle to reach the target course angle by calculating the course angle from the self position to the target position, and the control structure is shown in figure 2.
(2) The closed-loop track mainly gives a target speed and a target course, the unmanned marine system can obtain a course angle under an inertial coordinate system in real time according to the carried attitude sensor, and the self course angle is controlled to reach the target course angle within the given target navigation time by calculating the error from the self course angle to the given target position. The control structure is shown in fig. 3.
(3) The fixed-speed orientation mainly comprises a given target navigation speed, a target course and navigation time, the offshore unmanned system can obtain a course angle under an inertial coordinate system in real time according to a carried attitude sensor, the self course angle is controlled to reach the target course angle within the given target navigation time by calculating the error from the self course angle to the given target position, and the control structure is shown in fig. 2 and fig. 3.
3. Semi-autonomous return control
The semi-autonomous return control mainly means that when the host ship is within a sight distance range from the offshore unmanned system, a target course and a target speed of return of the offshore unmanned system are sent to the offshore unmanned system through radio, and the offshore unmanned system can autonomously sail on the water surface according to a given target value and finally reach the target value.
The semi-autonomous return control belongs to closed-loop navigation, and acts on a motion controller of the offshore unmanned system through target course and target speed transmitted by radio. The control structure is shown in fig. 4 and 5.
4. Hand operated control
The manual operation control belongs to open-loop control, and the steering engine angle value and the main propeller motor rotating speed which are sent by radio directly act on the steering engine and the main propeller of the offshore unmanned system without calculation and thrust distribution of bottom layer motion control. The control structure is shown in fig. 6.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A remote control method for controlling water surface homing of an offshore unmanned system is characterized by comprising the following steps: the offshore unmanned system communicates with the mother ship or a shore base station control console, and analyzes and updates a homing task instruction according to the distance between the offshore unmanned system and the mother ship or the shore base station remote control console and the sea condition: and the self-control, semi-self-control and manual control steps are respectively adopted to realize the return to the mother ship.
2. The method as claimed in claim 1, wherein the communication between the offshore unmanned system and the mother ship or the shore base station control station is realized by Iridium or radio.
3. The method for controlling the remote control of the sailing back to the water surface of the offshore unmanned system as claimed in claim 1, wherein the sailing back to the mother ship is achieved by the steps of autonomous control, semi-autonomous control and manual control according to the distance between the offshore unmanned system and the mother ship: adopting an autonomous control step when the distance between the offshore unmanned system and the mother ship is beyond the visual range; and when the distance between the offshore unmanned system and the mother ship is the visual distance, adopting a semi-autonomous control or manual control step.
4. The offshore unmanned system water surface remote control homing control method of claim 1, wherein the step of employing autonomous control comprises:
detecting whether the actual position of the offshore unmanned system reaches the target point position in real time according to the position of the given target point to form closed-loop control;
detecting the actual track of the offshore unmanned system in real time according to the given track, and navigating according to the preset track to form closed-loop control;
and detecting whether the actual speed and the actual course of the unmanned offshore system reach preset values in real time according to the given speed and the given course to form closed-loop control.
5. The method for controlling the water surface remote control homing of the offshore unmanned system according to claim 4, wherein the step of detecting whether the actual position of the offshore unmanned system reaches the target point position in real time according to the given target point position to form closed-loop control comprises the following steps:
the target navigation speed and the target position are given, the marine unmanned system collects the position of the marine unmanned system in real time through a navigation sensor carried by the marine unmanned system, calculates a target course angle according to the position of the marine unmanned system and the target position and outputs the target course angle to a steering engine, controls an attitude sensor carried by the marine unmanned system to detect the course angle of the marine unmanned system in real time, and adjusts the error between the course angle of the marine unmanned system and the target course angle through a course controller and calculates the angle value of the steering engine, so that the marine unmanned system is controlled to return to.
6. The method for controlling the water surface remote control return of the offshore unmanned system according to claim 4, wherein the step of detecting the actual flight path of the offshore unmanned system in real time according to the given flight path and sailing according to the preset flight path to form closed-loop control comprises the following steps:
the real-time position distance to the track is calculated according to the given target speed and the target course, the motion controller of the marine unmanned system controls a navigation sensor carried by the motion controller to acquire the self position in real time, the target course angle is calculated according to the self position and the target position and is output to a steering engine, the error between the self course angle and the target course angle is adjusted through a course controller, the angle value of the steering engine is calculated, and the marine unmanned system is controlled to return to the mother ship according to the given track within the given target navigation time.
7. The method for controlling the water surface remote control homing of the offshore unmanned system according to claim 4, wherein the step of detecting whether the actual speed and the heading of the offshore unmanned system reach preset values in real time according to the given speed and the heading to form closed-loop control comprises the following steps:
the offshore unmanned system acquires the self-navigation speed in real time according to the carried speed sensor, adjusts the error between the self-navigation speed and the given target navigation speed through the speed controller, calculates the target rotating speed value of the motor of the main propeller, and controls the offshore unmanned system to return to the mother ship within the given target navigation time;
the marine unmanned system obtains a self course angle in real time according to the carried attitude sensor, adjusts the error between the self course angle and a given target course angle through a course controller, calculates a target angle value of the steering engine, and controls the marine unmanned system to return to the mother ship within the given target navigation time.
8. The offshore unmanned system water surface remote control homing control method of claim 1, wherein the semi-autonomous control step comprises:
the offshore unmanned system acquires the self-navigation speed in real time according to the carried speed sensor, adjusts the error between the self-navigation speed and the given target navigation speed through the speed controller, calculates the target rotating speed value of the motor of the main propeller, and controls the offshore unmanned system to autonomously return to the mother ship on the water surface according to the given target value;
the offshore unmanned system obtains a self course angle in real time according to the carried attitude sensor, adjusts the error between the self course angle and a given target course angle through a course controller, calculates a target angle value of the steering engine, and controls the offshore unmanned system to autonomously return to the mother ship on the water surface according to the given target value.
9. The offshore unmanned system water surface remote control homing control method of claim 1, wherein the step of manually controlling comprises:
the offshore unmanned system directly acts on the steering engine and the main propeller of the offshore unmanned system according to the received steering engine angle value and the motor rotating speed value of the main propeller, and the offshore unmanned system can return to the mother ship.
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| CN114442612A (en) * | 2021-12-29 | 2022-05-06 | 宜昌测试技术研究所 | Control method for autonomous formation and navigation of unmanned naval vessels |
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