CN106950955A - Based on the ship's track-keepping control method for improving LOS bootstrap algorithms - Google Patents
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Abstract
The present invention relates to based on the ship's track-keepping control method for improving LOS bootstrap algorithms, this method includes following steps：1st, when ship is navigated by water on the path for having set track points generation along a certain rectilinear path section, its real-time sail information is obtained by the navigation module of ship；2nd, course-line deviation exceeds acceptable deviation from d ' between actual path and path planning, then the LOS bootstrap algorithms of operational development calculate desired course；If it is not, keeping the original planning flight path navigation of ship；3rd, repeat step 2 is until course-line deviation is in acceptable deviation from.Improved LOS bootstrap algorithms are applied to ship track tracing control field by the present invention, and clear thinking, algorithm is simple, can control ship tracking setting course line, and rudder angle change is gentle, and ship can be avoided frequently to make rudder.
Description
Technical field
The present invention relates to ship's track-keepping control technical field, and in particular to one kind based on improve LOS (Line-of-sight,
Bootstrap algorithm) bootstrap algorithm ship's track-keepping control method.
Background technology
Water is the important component at earth home, is also that society can realize sustainable development valuable source place.Ship
Oceangoing ship is all accounted in terms of national defence, national economy and ocean development and had a place in the sun as the vehicles in water body.Ship has
Advantage that is stealthy, intelligent, not being related to site operation personnel human safety issues.Nowadays, ship as hardware platform civilian
The everyway such as military has infiltration.In recent years, research and development of the industry to ship emerge in an endless stream.Ship has merged ship, led to
The technologies such as letter, automation, robot control, remote monitoring, networked system, realize independent navigation, intelligent barrier avoiding, remote
The functions such as communication, realtime video transmission and networked control.In face of being difficult to the complicated marine environment predicted, for a long time, it is autonomous,
Safely navigate by water a series of this dynamic control technology influences and governs above water craft to send out to long-range and multi-functional direction all the time
Exhibition.
Ship's track-keepping control technology has that control accuracy is high, do not influenceed by subjective factor, it is safe the characteristics of, and more
Had great application prospect come more aspects.Along with the high speed development of World Economics and science and technology, in order that ship is created
Bigger economic benefit, solution is undocked upper labour, and is navigated by water with ensureing safety of ship energy-conservation, and ship intellectuality becomes 21 century
The inexorable trend of ship development.Flight tracking control technology can not only mitigate crewman as the intelligentized core technology of ship is realized
Labor intensity, and in oceangoing voyage, under identical navigation condition, driftage number of times can be reduced, reduce course deviation so that
The speed of a ship or plane is improved, shortens hours underway, fuel is saved, the economic benefit of navigation is improved, while it is subjective to overcome Ship Controling personnel
The influence of factor, can carry out precisely scientifically controlling to ship track, greatly increase the security of ship's navigation.
Develop extensive LOS flight tracking controls arithmetic accuracy now higher, but still suffer from ship turning precision and efficiency is difficult to
The defect of guarantee.
The content of the invention
It is an object of the invention to provide a kind of based on the ship's track-keepping control method for improving LOS bootstrap algorithms, this method
The method for approaching setting course line using constantly being cut using circular arc so that ship steering engine beats energy while rudder, course change gentle
Enough converge quickly to set course line.By the improvement to LOS algorithms to obtain planning course preferably, realizing with good
While the control algolithm of good control effect, it is ensured that the stability of control algolithm.
In order to solve the above technical problems, disclosed by the invention a kind of based on the ship's track-keepping control for improving LOS bootstrap algorithms
Method, it is characterised in that it comprises the following steps：
Step 1：Ship is setting a certain rectilinear path section on the path planning that track points are generated along preset flight path section
During navigation, the real-time actual flight path information of ship is obtained by the navigation module of ship；
Step 2：The real-time actual flight path information of ship is compared with path planning, when the real-time actual flight path of ship
When true course-line deviation d between information and path planning exceeds acceptable deviation from d ', the LOS of following methods operational development is utilized
Bootstrap algorithm calculates and obtains ship desired course；Otherwise, the original planning flight path navigation of ship is kept；
Step 2.1：Take the reference frame for being fixed on that tellurian coordinate system is XY axles；
Step 2.2：A buffering is set up in a certain rectilinear path section of preset flight path section described in step 1 or so region
Area, parallel, the left side for buffering area of a certain rectilinear path section of the left margin and right margin of the buffering area with preset flight path section
Border is the given course-line deviation d of buffering area with the distance of a certain rectilinear path section of preset flight path section0, the right of buffering area
Boundary and the distance of a certain rectilinear path section of preset flight path section also give course-line deviation d for buffering area0；
Step 2.3：When ship does not enter into buffering area, i.e., true course-line deviation d >=buffering area gives course-line deviation d0When,
Desired course using approach method straight, i.e. ship perpendicular to prebriefed pattern along minimum range approaches prebriefed pattern；
When ship enters buffering area, i.e., true course-line deviation d ＜ buffering areas give course-line deviation d0When, using finite iteration
Circular arc method realizes ship convergence prebriefed pattern, comprises the following steps that：
Step 2.3.1：If A (xk,yk)、B(xk+1,yk+1) representing two adjacent track points respectively, ship is along adjacent flight path
Line navigation between point A, B；The slope in AB sections of course linesAngle rotates counterclockwise to AB sections of course lines with X-axis
Place straight line is negative, therefore the course for setting course line, if C (x, y) represents the current location of ship, initially enters buffering area as-θ
Real-time desired course ψ (di) it is defaulted as the actual heading of ship now；
Step 2.3.2：Do one by vessel position point C (x, y) and with real-time desired course ψ (di) and setting flight path section
AB all tangent circles, the angle of circumference of the minor arc corresponding to two point of contacts is θ-ψ (di)；
Step 2.3.3：Take the angular bisector of the angle of circumference of above-mentioned minor arc to hand in and state minor arc in point E, vessel position point C (x,
Y) the line CE directions with point E are desired course, and now the angular bisector of the angle of circumference of above-mentioned minor arc and the angle of X-direction are
ψ(di+1), i.e., the desired course that ship will be navigated by water；
Step 2.3.4：Repeat step 2.3.2~step 2.3.3, real-time desired course is obtained according to the mode of recursionWherein, i is performs the number of times of desired course, and ship is according to real-time expectation
Preset flight path is approached in course；
Step 3：Repeat step 2 is until true course-line deviation d is interior in acceptable deviation from d '.
Compared with prior art, the invention has the advantages that：
1st, radius R values fixed in tradition LOS designs will cause ship can not provide the bigger phase when away from track line
Hoping course ψ (d), effect is not good so as to cause it to guide, and in order to solve this problem, the present invention is approached using circular arc constantly incision
Set the method (i.e. improved LOS bootstrap algorithms) in course line so that ship steering engine is beaten can be fast while rudder, course change gentle
Setting course line is converged on fastly.
2nd, distance is turned to during the switching of flight path section when flight path section switches, in traditional design same fixed, when steering angle compared with
Ship obvious flare phenomenon can be caused when big, the present invention draws the thought of fuzzy algorithmic approach, passes through a large amount of Matlab emulation experiments
Distance is turned on the function of steering angle to improve the ship flare phenomenon that traditional LOS algorithms are easily caused to set up one.
3rd, LOS bootstrap algorithm clear thinkings of the invention, algorithm is simple, easily realizes.
Brief description of the drawings
Fig. 1 is the flow chart based on the ship's track-keepping control method for improving LOS bootstrap algorithms
Fig. 2 is to improve the path after LOS bootstrap algorithms
Fig. 3 is buffering area LOS computational methods
LOS computational methods when Fig. 4 is flight path section conversion
Fig. 5 is based on the ship's track-keepping control method simulation result for improving LOS bootstrap algorithms
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail：
The present invention devises a kind of ship's track-keepping control method based on improvement LOS bootstrap algorithms, as illustrated in fig. 1 and 2, it
Comprise the following steps：
Step 1：Ship is setting a certain rectilinear path section on the path planning that track points are generated along preset flight path section
During navigation, the real-time actual flight path information of ship is obtained by the navigation module of ship；
Step 2：The real-time actual flight path information of ship is compared with path planning, when the real-time actual flight path of ship
When true course-line deviation d between information and path planning exceeds acceptable deviation from d ', the LOS of following methods operational development is utilized
Bootstrap algorithm calculates and obtains ship desired course；Otherwise, the original planning flight path navigation of ship is kept；
Step 2.1：Take the reference frame for being fixed on that tellurian coordinate system is XY axles；
Step 2.2：A buffering is set up in a certain rectilinear path section of preset flight path section described in step 1 or so region
Area, parallel, the left side for buffering area of a certain rectilinear path section of the left margin and right margin of the buffering area with preset flight path section
Border is the given course-line deviation d of buffering area with the distance of a certain rectilinear path section of preset flight path section0, the right of buffering area
Boundary and the distance of a certain rectilinear path section of preset flight path section also give course-line deviation d for buffering area0；
Step 2.3：When ship does not enter into buffering area, i.e., true course-line deviation d >=buffering area gives course-line deviation d0When,
Desired course using approach method straight, i.e. ship perpendicular to prebriefed pattern along minimum range approaches prebriefed pattern；
When ship enters buffering area, i.e., true course-line deviation d ＜ buffering areas give course-line deviation d0When, using finite iteration
Circular arc method realizes the rapid smoothly convergence prebriefed pattern of ship, comprises the following steps that (as shown in Figure 3)：
Step 2.3.1：If A (xk,yk)、B(xk+1,yk+1) representing two adjacent track points respectively, ship is along adjacent flight path
Line navigation between point A, B；The slope in AB sections of course linesAngle rotates counterclockwise to AB sections of course lines with X-axis
Place straight line is negative, therefore the course for setting course line, if C (x, y) represents the current location of ship, initially enters buffering area as-θ
Real-time desired course ψ (di) it is defaulted as the actual heading of ship now；
Step 2.3.2：Do one by vessel position point C (x, y) and with real-time desired course ψ (di) and setting flight path section
AB all tangent circles, the angle of circumference of the minor arc corresponding to two point of contacts is θ-ψ (di)；
Step 2.3.3：Take the angular bisector of the angle of circumference of above-mentioned minor arc to hand in and state minor arc in point E, vessel position point C (x,
Y) the line CE directions with point E are desired course, and now the angular bisector of the angle of circumference of above-mentioned minor arc and the angle of X-direction are
ψ(di+1), i.e., the desired course that ship will be navigated by water；
Step 2.3.4：Repeat step 2.3.2~step 2.3.3, real-time desired course is obtained according to the mode of recursionWherein, i is performs the number of times of desired course, and ship is according to real-time expectation
Preset flight path is approached in course；
Step 3：Repeat step 2 is until true course-line deviation d is interior in acceptable deviation from d '.
Step 4：When a certain rectilinear path section of the ship along preset flight path section is travelled and drives into adjacent rectilinear path section,
According to the angle of adjacent two rectilinear path section to adjust the turning radius of ship to determine different steering distances in advance.
In above-mentioned technical proposal, step 4 solve different steerings in advance apart from the step of following (as shown in Figure 4)：
Utilize Rt=(α * θt+β)LPPCalculating turns to distance, wherein R in advancetTo turn to distance, θ in advancetFor adjacent two straight line
The angle of flight path section, α, β are constant, LPPFor the length between perpendiculars of ship.
In above-mentioned technical proposal, the value that the value of the α is 0.25, β is 0.3.
In above-mentioned technical proposal, by doing a large amount of emulation experiments determine that α, the β value of flare phenomenon can be obviously reduced.So exist
Suitable steering distance can be calculated under different steering angles, to reduce ship flare phenomenon, makes ship substantially according to inscribe
Circular arc is smoothly turned to, and almost keeps identical rudder angle.
In order to verify the control effect for the ship's track-keepping control method for improving LOS bootstrap algorithms, by building indirect flight path
Controller simulation model is controlled, using PID controller as inner ring direction controller, is acted on using improved LOS bootstrap algorithms
In outer shroud flight tracking control device, emulation experiment is completed with this.The setting of emulation experiment parameter is as follows：Simulation time is set as 400s；
PID direction controllers Kp、Ki、KdThree parameters are respectively set as 0.35,0.0001,3.5.
Fig. 5 is the Matlab simulation results after improvement LOS bootstrap algorithms.From simulation result as can be seen that utilizing the present invention
The improvement LOS methods of proposition, it is respectively 0.25,0.3 that flare phenomenon α, β value, which is obviously reduced, when flight path section is changed in ship.
The present invention proposes a kind of ship's track-keepping control method based on improvement LOS bootstrap algorithms, for rectilinear path section
Different situations when being changed with flight path section, using the method for circular approximation, have effectively achieved ship can quickly converge to
Desired trajectory and cause the change in course both to have made rudder more gentle, reduce ship flare phenomenon.
In above-mentioned technical proposal, utilize limited iterative method, you can the proper i of card level off to some less big value when just
Foot makes ψ (di) tend to set course-θ, and the changes delta ψ (d of desired coursei) tend to 0, namely rudder angle is held essentially constant, it was demonstrated that
Process is as follows：
Rudder angle variable quantity
When i levels off to infinity, ψ (di) tend to set course-θ, Δ ψ (di) tend to 0, ψ (di-1) represent desired course ψ
(di) the last desired course asked, ψ (d) represents to enable the desired course of the initial time of LOS algorithms；
Due to ship perpendicular to setting course line AB direction enter buffering area, be easy to get by geometrical relationship
Wherein, Δ is course deviation, if the allowed band of course deviation Δ is 1 °, i.e.,OrderI >=16 are obtained, i.e.,
Course deviation after No. 16 rudders is made a call to just to can reach allowed band and by index reduce.
Thus demonstrate,prove, improved LOS algorithms can make ship quick and gently converge on setting course line.
In the present embodiment, the step 3 is the check and correction to desired course, in the range of certain acceptable deviation from d ',
Realize the Track In Track control of ship.
The content that this specification is not described in detail belongs to prior art known to professional and technical personnel in the field.
Claims (4)
1. it is a kind of based on the ship's track-keepping control method for improving LOS bootstrap algorithms, it is characterised in that it comprises the following steps：
Step 1：Ship is navigated by water on the path planning for having set track points generation along a certain rectilinear path section of preset flight path section
When, the real-time actual flight path information of ship is obtained by the navigation module of ship；
Step 2：The real-time actual flight path information of ship is compared with path planning, when the real-time actual flight path information of ship
When true course-line deviation d between path planning exceeds acceptable deviation from d ', guided using the LOS of following methods operational development
Algorithm calculates and obtains ship desired course；Otherwise, the original planning flight path navigation of ship is kept；
Step 2.1：Take the reference frame for being fixed on that tellurian coordinate system is XY axles；
Step 2.2：A buffering area is set up in a certain rectilinear path section of preset flight path section described in step 1 or so region, should
The left margin and right margin of buffering area with the preset flight path section a certain rectilinear path section it is parallel, the left margin of buffering area with
The distance of a certain rectilinear path section of the preset flight path section gives course-line deviation d for buffering area0, the right margin of buffering area and institute
The distance for stating a certain rectilinear path section of preset flight path section also gives course-line deviation d for buffering area0；
Step 2.3：When ship does not enter into buffering area, i.e., true course-line deviation d >=buffering area gives course-line deviation d0When, use
Approach method, i.e. ship along minimum range approach prebriefed pattern perpendicular to the desired course of prebriefed pattern straight；
When ship enters buffering area, i.e., true course-line deviation d ＜ buffering areas give course-line deviation d0When, using finite iteration circular arc
Method realizes ship convergence prebriefed pattern, comprises the following steps that：
Step 2.3.1：If A (xk,yk)、B(xk+1,yk+1) represent two adjacent track points respectively, ship along adjacent track points A,
Line navigation between B；The slope in AB sections of course linesAngle is rotated counterclockwise to where AB sections of course lines with X-axis
Straight line is negative, therefore the course for setting course line, if C (x, y) represents the current location of ship, initially enters the real-time of buffering area as-θ
Desired course ψ (di) it is defaulted as the actual heading of ship now；
Step 2.3.2：Do one by vessel position point C (x, y) and with real-time desired course ψ (di) and setting flight path section AB is
Tangent circle, the angle of circumference of the minor arc corresponding to two point of contacts is θ-ψ (di)；
Step 2.3.3：Take the angular bisector of the angle of circumference of above-mentioned minor arc to hand in and state minor arc in point E, vessel position point C (x, y) with
Point E line CE directions are that desired course, the now angular bisector of the angle of circumference of above-mentioned minor arc and the angle of X-direction are ψ
(di+1), i.e., the desired course that ship will be navigated by water；
Step 2.3.4：Repeat step 2.3.2~step 2.3.3, real-time desired course is obtained according to the mode of recursionWherein, i is performs the number of times of desired course, and ship is according to real-time expectation
Preset flight path is approached in course；
Step 3：Repeat step 2 is until true course-line deviation d is interior in acceptable deviation from d '.
2. it is according to claim 1 based on the ship's track-keepping control method for improving LOS bootstrap algorithms, it is characterised in that：Institute
Stating also includes step 4 after step 3：Navigated when a certain rectilinear path section of the ship along preset flight path section travels and drive into adjacent straight line
Mark section when, according to adjacent two rectilinear path section angle to adjust the turning radius of ship with determine different steerings in advance away from
From.
3. it is according to claim 2 based on the ship's track-keepping control method for improving LOS bootstrap algorithms, it is characterised in that：Step
Rapid 4 solve different steerings in advance apart from the step of it is as follows：
Utilize Rt=(α * θt+β)LPPCalculating turns to distance, wherein R in advancetTo turn to distance, θ in advancetFor adjacent two rectilinear path
The angle of section, α, β are constant, LPPFor the length between perpendiculars of ship.
4. it is according to claim 3 based on the ship's track-keepping control method for improving LOS bootstrap algorithms, it is characterised in that：Institute
The value that the value for stating α is 0.25, β is 0.3.
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