CN105182734A - Air cushion ship formation control device and method based on virtual navigator and navigation strategy - Google Patents

Abstract

The invention provides an air cushion ship formation control device based on a virtual navigator and a navigation strategy. The air cushion ship formation control device comprises a virtual navigator module, a navigation module, a comparator and a controller, wherein the virtual navigator module sets the expected position for each air cushion ship through the geometrical relationship and updates the expected position in real time; the navigation module converts the self expected position into an expected speed signal; the comparator compares the expected speed with the practical speed to obtain the speed misalignment; and the controller can resolve a control command according to the speed misalignment. The air cushion ship formation control device and method based on a virtual navigator and a navigation strategy utilize the strategy for combining navigation with a virtual navigator, and set the expected position for each air cushion ship through the specific geometrical relationship by means of the virtual navigator, and then utilize translation to approach the navigation to convert an expected position signal into an expected speed signal to control, thus being able to effectively avoid the overshooting situation and improving the accuracy of formation and the safety of navigation.

Description

Based on the hovermarine formation control device and method of virtual pilotage people with guiding strategy

Technical field

What the present invention relates to is a kind of formation control device of hovermarine.What the present invention also relates to is a kind of formation control method of hovermarine.

Background technology

Along with the great-leap-forward development of new-type shipbuilding technology, various high-performance special boats and ships emerge successively, are subject to increasing attention, have become the emphasis of countries in the world shipbuilding circles research.So-called high-performance special boats and ships are the class novel sea vehicles for breakthrough normal shipboard performance and adaptation particular surroundings require and develop.Hovermarine is exactly so a kind of novel sea vehicle.But the work capacity of single hovermarine ship is limited after all, and in practical application, often need many hovermarines mutually to coordinate, jointly complete complex task.Simultaneously relative to single hovermarine, many mutual coordinative operations of hovermarine have many potential advantages: the efficiency that can improve operation, has the advantage such as fault-tolerance and strong adaptability.Therefore to the research of many hovermarine formation controls, there is important actual application value.

Summary of the invention

The object of the present invention is to provide a kind of automatic formation control that can realize hovermarine, improve the hovermarine formation control device tactful with guiding based on virtual pilotage people of formation degree of accuracy and nevigation safety.The present invention also aims to provide a kind of based on the hovermarine formation control method of virtual pilotage people with guiding strategy.

The hovermarine formation control device tactful with guiding based on virtual pilotage people of the present invention mainly comprises virtual pilotage people's module, guiding module, comparer and controller, virtual pilotage people's module formulates the desired locations of each hovermarine and real-time renewal by geometric relationship, the desired locations of self is converted to desired speed signal by guiding module, desired speed and actual speed compare and obtain velocity deviation by comparer, and controller resolves steering order according to velocity deviation.

The hovermarine formation control method tactful with guiding based on virtual pilotage people of the present invention comprises the steps:

(1) using discrete track particle as being virtual pilotage people, and set constant value vector as virtual pilotage people and the relative position of following hovermarine, provided the real-time desired locations of following hovermarine by virtual pilotage people;

(2) adopt translation close to daoyin technique, desired locations given for virtual pilotage people and current physical location are made deviation, then calculates the desired speed of current time close to daoyin technique by translation;

(3) desired speed obtained and current actual speed compare and obtain velocity deviation by comparer;

(4) controller designs PID controller by velocity deviation, calculates control.

The present invention regards discrete track particle as virtual pilotage people, and there is certain renewal speed, formulate the desired locations of each hovermarine according to the position of virtual pilotage people with certain geometric relationship, then adopt translation to calculate the desired speed of current time according to the deviometer of desired locations and physical location close to method guiding.Comprise a comparer and a controller, the deviation of the current desired speed that comparer exports and current actual speed is the input of controller, and control method adopts PID to control to carry out the design of control.

Hinge structure of the present invention has following advantage and effect:

Hovermarine easily produces overshoot because speed is too fast in formation process, and the lighter affects the precision of formation, and severe one can cause occurring between ship and ship to clash into producing major accident.The present invention adopts the strategy of guiding and being combined with virtual pilotage people, formulated the desired locations of every hovermarine ship with specific geometric relationship by virtual pilotage people, then utilize translation, close to guiding, desired locations signal is converted to desired speed signal to control again, effectively over-control be can avoid, formation degree of accuracy and nevigation safety improved.

Accompanying drawing explanation

Fig. 1 is based on the hovermarine formation control principle of device block diagram of virtual pilotage people-guiding strategy.

Fig. 2 is based on the hovermarine formation control method process flow diagram of virtual pilotage people-guiding strategy.

Fig. 3 is based on the hovermarine formation schematic diagram of virtual pilotage people-guiding strategy.

Fig. 4 translation is close to guiding schematic diagram.

Embodiment

Below in conjunction with accompanying drawing, the present invention is described in further detail.

Composition graphs 1, the hovermarine formation control device tactful with guiding based on virtual pilotage people of the present invention mainly comprises virtual pilotage people's module, guiding module, comparer and controller.Comprise a virtual pilotage people-guiding strategy, regard discrete track particle as virtual pilotage people, and there is certain renewal speed, formulate the desired locations of each hovermarine according to the position of virtual pilotage people with certain geometric relationship, then adopt translation to calculate the desired speed of current time according to the deviometer of desired locations and physical location close to method guiding.Comprise a comparer and a controller, the deviation of the current desired speed that comparer exports and current actual speed is the input of controller, and control method adopts PID to control to carry out the design of control.

Composition graphs 2, the performing step based on the hovermarine formation control method of virtual pilotage people-guiding strategy is as follows:

1. read N hovermarine separately the physical location (x, y) of current time, speed (u, v) and bow to ψ;

2. formulated the desired locations of every hovermarine with geometric relationship by virtual pilotage people;

Suppose that the hovermarine of forming into columns has N, virtual pilotage people is the discrete particle on desired trajectory.N hovermarine is with the geometrical length l apart from virtual pilotage people _i, (i=1,2...N) follows the tracks of it, thus forms the formation of setting.

The position of virtual pilotage people is designated as vectorial P _t(t)=[x _t(t) y _t(t)] ^t∈ R ², then P _d(t)=P _t(t)+R (ψ) l _ifor the desired locations vector of hovermarine.

3. utilize translation close to guiding by the desired locations (x of every hovermarine _d, y _d) be converted to respective desired speed signal (u _d, v _d);

1. defining variable

Actual hovermarine position is designated as vectorial P (t)=[x (t) y (t)] ^t∈ R ²;

2. hovermarine position deviation P is calculated _e(t)=[x _e(t) y _e(t)] ^t

P _e(t)＝P _d(t)-P(t)(1)

3. hovermarine desired speed vector v is designed _d(t)=[u _d(t) v _d(t)] ^t

Desired speed design is as follows

v _d(t)＝v _t(t)+v _a(t)(2)

Wherein v _tt () is the speed of virtual pilotage people, v _at () is for hovermarine is close to the speed of virtual pilotage people.

According to position deviation, v _at () design is as follows

v _a(t)＝κ(t)P _e(t)/|P _e(t)|(3)

Wherein be the Euclid length of position deviation vector, κ (t) selects as follows

$\mathrm{\κ}\left(t\right)=U_{a,max}\left(t\right)\left|P_e\left(t\right)\right|/\sqrt{{P_e}^T\left(t\right)P_e\left(t\right)+{\mathrm{\Δ}}_{\tilde{p}}^2}---\left(4\right)$

Wherein U _{a, max}> 0 is the maximal rate of hovermarine close to desired locations; be constant, can be used for the overshoot avoiding hovermarine to produce because of excessive velocities.

4. desired speed signal is passed to comparer, compare with actual speed, obtain velocity deviation;

v _e(t)＝v(t)-v _d(t)(5)

5. design PID controller, regulate corresponding parameter, and draw corresponding control, control the motion of hovermarine.

What adopt in the present invention is very basic and very practical PID controller.In PID controls, proportional component, the control of integral element and differentiation element is interactional, and the quality of its parameter choose directly affects the control effects of PID controller.The effect of each link is as follows:

The adjustment of proportional component (Kp), the generation control action that controller is proportional, reaches the effect reducing deviation;

The adjustment of integral element (Ki), Main Function is for eliminating static error, and it is too strong that integral action can not regulate, and system can be caused unstable;

The adjustment of differentiation element (Kd), the dynamic perfromance of influential system, introduces corrected signal in fact in advance, accelerates system call interception speed.

According to the link of three in PID controller, the Different Effects of system and impact each other are reasonably chosen to the parameter of PID.

PID controller is represented by formula:

$\mathrm{\τ}=K_P{v}_e+K_I\∫v_{e}dt+K_D\frac{{\mathrm{dv}}_e}{dt}---\left(6\right)$

Control is passed to hovermarine, obtains the status information of subsequent time hovermarine, be then updated to subsequent time by current time; Repeated execution of steps 1 ~ 5, until task termination.

Claims (2)

1. one kind based on virtual pilotage people with guiding strategy hovermarine formation control device, it is characterized in that: mainly comprise virtual pilotage people's module, guiding module, comparer and controller, virtual pilotage people's module formulates the desired locations of each hovermarine and real-time renewal by geometric relationship, the desired locations of self is converted to desired speed signal by guiding module, desired speed and actual speed compare and obtain velocity deviation by comparer, and controller resolves steering order according to velocity deviation.

2., based on the hovermarine formation control method of virtual pilotage people with guiding strategy, it is characterized in that comprising the steps:

(1) using discrete track particle as being virtual pilotage people, and set constant value vector as virtual pilotage people and the relative position of following hovermarine, provided the real-time desired locations of following hovermarine by virtual pilotage people;

(2) adopt translation close to daoyin technique, desired locations given for virtual pilotage people and current physical location are made deviation, then calculates the desired speed of current time close to daoyin technique by translation;

(3) desired speed obtained and current actual speed compare and obtain velocity deviation by comparer;

(4) controller designs PID controller by velocity deviation, calculates control.