CN113625544A - Inner and outer ring PID path tracking control method of wave glider - Google Patents

Abstract

The invention discloses a wave glider path tracking control method, which is characterized in that two tail rudder angles are output through two PID controls of an inner ring and an outer ring, and the path tracking control of the wave glider is completed. The inner ring PID control is as follows: and inputting the side margin of the current position of the wave glider from the expected track into a PID course controller as deviation, and outputting a tail rudder angle. The outer loop PID control is: the deviation between the current heading and the expected heading returned by the compass is input into a PID heading controller, and meanwhile, the inner ring control output (rudder angle) is used as the outer ring control input to output a tail rudder angle. And the angles of the two tail rudders are jointly used for the wave glider, so that the current path is tracked by the wave glider. The path tracking control method of the wave glider provided by the invention has the advantages of convenience in control and simple process, and the wave glider can accurately complete path tracking by reasonably adjusting PID parameters.

Description

Inner and outer ring PID path tracking control method of wave glider

Technical Field

The invention relates to a path tracking control method for inner and outer ring PID of a wave glider, in particular to the field of wave glider motion control.

Background

The wave glider is a new type ocean moving observation platform, which is mainly composed of a floating body ship, an umbilical cable and a tractor. The wave energy is converted into forward power by the aid of the multi-rigid-body structure formed by the three parts, energy supplies are provided for navigation, communication, motion control and the like of the wave glider by the aid of the solar cell panel, and the wave glider can independently sail on the sea for a long time in a large range.

The uncertainty and nonlinearity of the wave glider model and the complex variability of the marine environment make its path tracking control particularly difficult. In order to simplify the navigation control flow of the wave glider and reduce the operation power consumption of a navigation control module, the invention aims to provide a simple and feasible wave glider path tracking control method, simplify the navigation algorithm of the wave glider and save the navigation control system resources.

Disclosure of Invention

The invention provides a novel path tracking control method, which realizes the rapid and reliable path tracking control of a wave glider. The wave glider path tracking control method can be expanded to other unmanned water vehicles with similar structures with the wave glider.

The invention has the following implementation steps:

the method comprises the following steps: the wave glider starts an inner ring PID path tracking control method and provides the current position (x, y) of the wave glider through GPS real-time positioning, and the control system calculates the side margin h between the current position (x, y) and an expected track. The inner ring control is to input the current side margin h to a PID course controller and output a tail rudder angle delta₁To vertically orient the wave glider toward the desired path P₁P₂And (4) moving.

Step two: the outer ring control is as follows: target point (x)_k+1,y_k+1) Inputting the signal into a wave glider control system to obtain a desired heading psi_eAnd then the compass reads the current heading psi_c(i.e., inner loop control)System output) for determining the deviation ψ between the current heading returned by the compass and the expected heading_bInput to a PID course controller and output the tail rudder angle delta₂To make the wave glider quickly face the target point (x)_k+1,y_k+1) And (4) moving.

Step three: obtaining the angle delta of the inner ring tail rudder₁And outer ring tail rudder angle delta₂Rear, wave glider at rudder angle delta₁、δ₂To a desired heading P₁P₂。

Step four: judging whether the wave glider finishes the tracking of the current target path, if not, repeating the first step, the second step and the third step until the path tracking reaches the target point; and if the path tracing is finished, switching to the next target path for tracing until all the path tracing is finished.

In the process of tracking and controlling the target path of the wave glider, the expected course is obtained in real time, so that the navigation control of the path of the wave glider is guaranteed, the expected course angle of the wave glider is quickly and effectively obtained on the premise of meeting the navigation control precision of the wave glider, and the navigation control algorithm is simplified, so that the control robustness of the wave glider is improved, and the control power consumption is reduced. The invention has the following effects: the tail rudder angle is output through simple and easy PID course control, and the wave glider is ensured to simply and reliably complete path tracking control with multiple interferences coexisting under complex sea conditions. PID control of the inner ring and PID control of the outer ring are not interfered with each other, the tail rudder angle is stably output, and path tracking is completed.

Drawings

FIG. 1 is a general block diagram of a path tracking control method for inner and outer loop PIDs;

FIG. 2 is a block diagram of the inner and outer loop PID control flow;

Detailed Description

The invention is described in detail below with reference to the drawings and the detailed description.

As shown in figure 1, the wave glider starts an inner ring and outer ring PID path tracking control method, the current position (x, y) of the wave glider is given through GPS real-time positioning, and the system calculates the side margin between the current position (x, y) and an expected trackh. The inner ring control is to input the current side margin h to a PID course controller and output a tail rudder angle delta₁To vertically orient the wave glider toward the desired path P₁P₂And (4) moving. The outer ring control is as follows: target point (x)_k+1,y_k+1) Inputting the signal into a wave glider control system to obtain a desired heading psi_eAnd then the compass reads the current heading psi_c(i.e., the inner loop controls the output rudder angle) and the deviation psi of the current heading returned by the compass from the expected heading_bInput to a PID course controller and output the tail rudder angle delta₂To make the wave glider quickly face the target point (x)_k+1,y_k+1) And (4) moving. Obtaining the angle delta of the inner ring tail rudder₁And outer ring tail rudder angle delta₂Rear, wave glider at rudder angle delta₁、δ₂To a desired heading P₁P₂. Judging whether the wave glider finishes the tracking of the current target path, if not, repeating the first step, the second step and the third step until the path tracking reaches the target point; and if the path tracing is finished, switching to the next target path for tracing until all the path tracing is finished.

The inner loop PID control equation is:

wherein k is₁,k₂,k₃H is the wave glider distance P from the desired path, which is a proportionality coefficient₁P₂H is used as a deviation value and input into a PID course controller, and a tail rudder angle delta is output₁. As long as the deviation h exists, a rudder angle delta is output₁Thereby ensuring that the wave glider is oriented vertically towards the desired path P₁P₂And (4) moving.

The outer loop PID control equation is:

wherein k is₄,k₅,k₆Is a scale factor,. psi_bIs the course angle deviation, psi_b＝ψ_e-ψ_cWherein ψ_cIs the current heading angle, psi_eIs the desired heading angle.

The invention is characterized in that:

(1) the method provided by the invention outputs the tail rudder angle through simple and feasible PID course control, and ensures that the wave glider simply and reliably completes path tracking control with multiple interferences coexisting under complex sea conditions.

(2) The method provided by the invention can effectively reduce the tracking energy consumption of the wave glider and improve the endurance capacity of the wave glider while ensuring the tracking precision, and has practical engineering significance.

Claims (5)

1. A wave glider path tracking method is characterized by providing a wave glider path tracking control method, which comprises the following steps:

the method comprises the following steps: the wave glider starts an inner ring and outer ring PID path tracking control method, the current position (x, y) of the wave glider is given through GPS real-time positioning, and the outer ring is controlled to be the vertical distance h between the current position (x, y) and an expected path. The inner ring control is to input the current side margin h to a PID course controller and output a tail rudder angle delta₁To vertically orient the wave glider toward the desired path P₁P₂And (4) moving.

Step two: the outer ring control is as follows: target point (x)_k+1,y_k+1) Inputting the signal into a wave glider control system to obtain a desired heading psi_eAnd then the compass reads the current heading psi_cThe deviation psi of the current heading returned by the compass from the desired heading_bInput to a PID course controller and output the tail rudder angle delta₂To make the wave glider quickly face the target point (x)_k+1,y_k+1) And (4) moving.

Step three: obtaining the angle delta of the inner ring tail rudder₁And outer ring tail rudder angle delta₂Then, delta is₁、δ₂Acting together on the wave glider to produce a resultant rudder angle, thereby causing the wave glider to converge quickly to a desired headingP₁P₂。

Step four: judging whether the wave glider finishes the tracking of the current target path, if not, repeating the first step, the second step and the third step until the path tracking reaches the target point; and if the path tracing is finished, switching to the next target path for tracing until all the path tracing is finished.

2. The method as claimed in claim 1, wherein the step one of inner loop PID control inputs the vertical distance h between the current position (x, y) and the expected path as the deviation into the PID heading controller to output the tail rudder angle.

3. The method as claimed in claim 1, wherein the tracking of the target path is converted into tracking of the target course by a simple PID control algorithm, and the PID controller outputs a rudder angle to control the steering of the wave glider.

4. The method as claimed in claim 1, wherein the PID parameters are set reasonably to obtain a stable convergent control law, so that the course angle deviation tends to zero. The inner ring PID control law is as follows:

wherein k is₁,k₂,k₃H is the wave glider distance P from the desired path, which is a proportionality coefficient₁P₂H is used as a deviation value and input into a PID course controller, and a tail rudder angle delta is output₁. As long as the deviation h exists, a rudder angle delta is output₁Thereby ensuring that the wave glider is oriented vertically towards the desired path P₁P₂And (4) moving.

5. The wave glider path tracking method according to claim 1, wherein the outer loop PID control law is:

wherein k is₄,k₅,k₆Is a scale factor,. psi_bIs the course angle deviation, psi_b＝ψ_e-ψ_cWherein ψ_cIs the current heading angle, psi_eIs the desired heading angle.

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