A fault-tolerant anti-interference method for power positioning of a sea space launch and recovery ship

Abstract

The application provides a kind of offshore aerospace launch and recovery ship power positioning fault-tolerant anti-interference method, belongs to offshore aerospace launch and recovery ship automatic control technical field;The method of the application is mainly oriented to the research of offshore aerospace launch and recovery ship power positioning control considering unknown external marine environment interference and mixed faults of thrusters, uses interference observer and bias fault observer and multiplicative fault adaptive observer, solves the online estimation and inhibition of unknown external marine environment interference on offshore aerospace launch and recovery ship power positioning and the estimation and compensation problem of mixed faults of offshore aerospace launch and recovery ship thrusters;By using a composite fault-tolerant anti-interference controller to correct the tracking feedback control error problem, effectively enhance the anti-interference ability of offshore aerospace launch and recovery ship, improve the reliability of offshore aerospace launch and recovery ship control, so that the expected position of offshore aerospace launch and recovery ship reaches the expected effect.

Description

Technical Field

[0001] This invention belongs to the field of dynamic positioning fault-tolerant and anti-interference technology for marine aerospace launch and recovery vessels, and specifically relates to a dynamic positioning fault-tolerant and anti-interference method for marine aerospace launch and recovery vessels. Background Technology

[0002] With the continuous development of my country's aerospace technology, sea-based launches of carrier rockets have become a research hotspot in recent years due to their high flexibility, good mission adaptability, and superior launch economy. Sea-based launches offer significant advantages over land-based launches. They allow for flexible deployment of rockets to areas near the equator, saving considerable thrust and fuel. They also meet the launch requirements of satellites with various inclinations, effectively propelling China's aerospace industry onto the international stage. Furthermore, with the increasing demand for space launches and the growing population density on land, the geographical location of some launch sites poses safety risks related to the fall of first and second stage rocket debris. Sea-based launches not only effectively address this issue and significantly reduce personnel evacuation costs associated with land-based launches, but also allow for flexible selection of launch sites and impact zones.

[0003] Completing rocket launch and recovery missions requires the use of maritime space launch and recovery vessels for maneuvering. These vessels need to maintain a specific attitude and position on the sea surface during these operations. Due to the complexity of the marine environment, the external environmental disturbances experienced by maritime space launch and recovery vessels exhibit significant uncertainty depending on changes in external conditions. Furthermore, propulsion malfunctions are unavoidable during missions, making traditional anchoring positioning insufficient to meet the diverse needs of these missions. Dynamic positioning technology, compared to traditional anchoring positioning, offers advantages such as higher positioning accuracy, greater flexibility, applicability to various sea states, ease of operation, and high maneuverability. Therefore, conducting research on the control of dynamic positioning for maritime space launch and recovery vessels has significant theoretical and practical value.

[0004] Existing research methods mostly assume that the dynamic positioning control system of marine space launch and recovery vessels is free from external interference or that the interference frequency is known, and do not consider the problem of mixed failures of the thrusters in the system control. However, in practical engineering applications, the dynamic positioning control system of marine space launch and recovery vessels is often subject to interference from the external marine environment during operation, and the thrusters in the system inevitably experience multiple types of mixed failures. In addition, existing technologies have few considerations for the actual performance requirements of dynamic positioning fault-tolerant and anti-interference control of marine space launch and recovery vessels under mixed failures and external interference, and the use cost is high and not easy to implement in engineering.

[0005] Therefore, how to achieve fault-tolerant and anti-interference control design for dynamic positioning of marine space launch and recovery vessels under the conditions of considering unknown external marine environmental interference and mixed failures of the propulsion system has become an urgent problem to be solved. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of the aforementioned technologies by proposing a dynamic positioning fault-tolerant and anti-interference method for marine aerospace launch and recovery vessels, aiming to solve the problems of existing dynamic positioning fault-tolerant and anti-interference methods for marine aerospace launch and recovery vessels.

[0007] This invention provides a fault-tolerant and interference-resistant method for dynamic positioning of marine space launch and recovery vessels, the method comprising the following steps:

[0008] S1: Based on the position and heading angle information of the dynamic positioning of the marine space launch and recovery vessel in the geodetic coordinate system, and the corresponding velocity information in the appendage coordinate system of the marine space launch and recovery vessel, a nonlinear kinematic model of the dynamic positioning of the marine space launch and recovery vessel is established.

[0009] S2: Considering the wind, waves, currents, and unmodeled dynamic time-varying environmental disturbances in the marine environment where the space launch and recovery vessel is maneuvering and operating, and also considering the dynamic positioning problem under the combined failure of the propulsion of the space launch and recovery vessel, a dynamic positioning dynamic model of the space launch and recovery vessel is established.

[0010] S3: Design an interference observer to estimate and counteract time-varying environmental interference in the dynamic positioning of marine space launch and recovery vessels; design a deviation fault observer to estimate additive faults online and compensate for additive faults occurring in the propulsion system of marine space launch and recovery vessels; design a multiplicative fault adaptive observer to estimate and compensate for efficiency factors under multiplicative faults.

[0011] S4: Based on the interference observer, the deviation fault observer, and the multiplicative fault adaptive observer, and using the projection algorithm, a composite anti-interference fault-tolerant controller is designed.

[0012] S5: Using the linear matrix inequality algorithm, solve the gain matrix in the fault-tolerant anti-interference controller, the interference observer, and the observation gain matrix in the deviation fault observer of the dynamic positioning of the marine aerospace launch and recovery vessel, so as to achieve the expected value of the dynamic positioning of the marine aerospace launch and recovery vessel.

[0013] Furthermore, the specific details of the dynamic positioning kinematic model for the marine space launch and recovery vessel in step S1 are as follows:

[0014]

[0015]

[0016] In the formula: η=[x,y,ψ] T The position vector in the northeast coordinate system is composed of the ship's actual position (x, y) and heading angle ψ; υ = [u, v, r] T The velocity vector in the attached coordinate system is composed of the ship's forward velocity u, lateral drift velocity v, and bow roll angular velocity r; J(ψ) is defined as the rotation matrix, representing the rotation matrix from the attached coordinate system to the northeast coordinate system.

[0017] Furthermore, the dynamic model for the dynamic positioning of the marine space launch and recovery vessel in step S2 is as follows:

[0018]

[0019] In equation (3), M is the inertia matrix including the added mass; D(v) is the damping matrix; τ F The control vector provided for the thruster; d(t) is the unknown disturbance vector; θ(t) = [θ1(t), θ2(t), θ3(t)] T The equivalent time-varying force and moment vector on the hull when the propulsion of a marine space launch and recovery vessel experiences a deviation failure.

[0020] Furthermore, the aforementioned Arrange the matrix for the thrusters; U p =diag(u p1 , ..., u pn ) represents the thrust vector output by the thruster; δ = [δ1,...,δ n ] T Here is the efficiency factor matrix; where:

[0021]

[0022] In equation (4), l i =[l x1 ,l y1 [] represents the position coordinates of the i-th thruster on the horizontal plane; Let be the azimuth angle of the i-th thruster.

[0023] Furthermore, the inertia matrix of M is:

[0024]

[0025] In equation (5), m is the mass of the sea-based space launch and recovery vessel; The additional mass caused by the motion of ships used for space launch and recovery at sea; I z x is the moment of inertia. GThis is the distance between the ship's center and the origin of the established coordinate system.

[0026] Furthermore, the damping matrix of D(v) is:

[0027]

[0028] In equation (6), u is the velocity vector used by the ship for launching and recovering spacecraft at sea; X u ,Y υ ,Y r N υ N r is the damping coefficient.

[0029] Furthermore, the specific design process of the interference observer, deviation fault observer, and multiplicative fault adaptive observer in step S3 is as follows: Based on the unknown interference vector d(t) in equations (1) and (3), the following interference observer is designed:

[0030]

[0031] In equation (7), This is an estimate of the interference. This is an estimate of the efficiency factor. For additive fault estimates, K1,K0∈R 3×3 Let K1 be the gain matrix of the interference observer and satisfy K1 = K0M -1 , q∈R 3 is the auxiliary intermediate vector generated by equation (7).

[0032] Furthermore, the deviation faults experienced by sea-based space launch and recovery vessels can be expressed as θ(t)=[θ1(t),θ2(t),θ3(t)] T For additive faults in the propulsion systems of marine space launch and recovery vessels, a deviation fault observer is designed to estimate the fault, and the estimated value is used in the controller to offset the fault. The designed deviation fault observer is as follows:

[0033]

[0034] In equation (8), The fault estimate is K2∈R. 3×3 Let R be the gain matrix of the fault observer, k∈R 3 is the auxiliary intermediate vector generated by equation (8).

[0035] Furthermore, the multiplicative faults experienced by marine space launch and recovery vessels can be represented by an efficiency factor. For the propulsion multiplicative faults of marine space launch and recovery vessels, an adaptive fault observer is designed to estimate the multiplicative fault efficiency factor, and the estimated value is used in the controller to offset the fault. The designed adaptive fault observer is as follows:

[0036]

[0037] In equation (9), Here are the estimated efficiency factors, K3, K4 ∈ R. 3×3 Let Proj be the gain matrix of the multiplicative fault adaptive observer. (0,1 The projection operator ensures that the estimated value is in (0,1).

[0038] Furthermore, the specific design process of the composite fault-tolerant anti-interference controller in step S4 is as follows: Based on the interference observer, the deviation fault observer, and the multiplicative fault adaptive observer, the following composite fault-tolerant anti-interference controller is designed:

[0039]

[0040] In formula (10), z1=η-η d Z2 = ν - α1 represents the position error of the space launch and recovery vessel at sea; Z2 = ν - α1 represents the velocity vector error of the space launch and recovery vessel at sea; L2 = L2 T ∈R 3×3 To design the controller gain matrix; α1∈R 3 This is a virtual function vector.

[0041] Furthermore, after obtaining the composite fault-tolerant anti-interference controller in steps S4 and S5, the method further includes:

[0042] S6: Using the linear matrix inequality algorithm, adjust the gain matrices K0, K1, and K2 of the interference observer and the deviation fault observer, and adjust the gain matrices K3 and K4 of the multiplicative fault adaptive observer, so that the tracking performance and convergence speed of the interference observer, the deviation fault observer, and the multiplicative fault adaptive observer meet the set requirements; K0∈R 3×3 K1∈R 3×3 K2∈R 3×3 Where K0, K1, and K2 are design parameter matrices, and the interference observer design matrix satisfies K1 = K0M -1 K3 is a given Hurwitz matrix, and a given positive definite matrix Q = Q T ∈R 3×3 There exists a positive definite matrix K4 = K4 T ∈R 3×3 And satisfy K3T K4+K4K3=-Q;

[0043] S7: Using the linear matrix inequality algorithm, adjust the gain matrices L1 and L2 of the composite anti-interference fault-tolerant controller to achieve arbitrary desired accuracy in the dynamic positioning error of the marine aerospace launch and recovery vessel; L1 and L2 satisfy -L1z1 T z1 < 0, -L2z2 T z2 < 0, z1 = η - η d Let z2 = ν - α1 be the position error of the space launch and recovery vessel at sea, and let α1 ∈ R be the velocity vector error of the space launch and recovery vessel at sea. 3 This is a virtual function vector.

[0044] In summary, the dynamic positioning fault-tolerant and anti-interference method for marine aerospace launch and recovery vessels provided by this invention has the following beneficial effects:

[0045] First, the fault-tolerant and anti-interference method for dynamic positioning of marine space launch and recovery vessels provided by this invention addresses the dynamic positioning of marine space launch and recovery vessels under unknown external marine environmental interference and mixed propulsion failures. It utilizes interference observers, deviation fault observers, and multiplicative fault adaptive observers to solve the problems of online estimation and suppression of unknown external marine environmental interference and estimation and compensation for mixed propulsion failures in the dynamic positioning of marine space launch and recovery vessels. Furthermore, it effectively enhances the anti-interference capability of marine space launch and recovery vessels and improves the reliability of their control, ensuring that the tracking position of marine space launch and recovery vessels achieves the expected results, thus addressing the problem of correcting tracking feedback control errors.

[0046] Secondly, the fault-tolerant and anti-interference method for dynamic positioning of marine aerospace launch and recovery vessels provided by this invention takes into account the actual performance of composite fault-tolerant and anti-interference control of dynamic positioning of marine aerospace launch and recovery vessels, has low cost and is easy to implement in engineering. Attached Figure Description

[0047] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0048] The present invention will be further described below with reference to the accompanying drawings:

[0049] Figure 1 This is a flowchart of a dynamic positioning fault-tolerant and anti-interference method for marine aerospace launch and recovery vessels according to the present invention;

[0050] Figure 2 Dynamic positioning diagram of a marine space launch and recovery vessel provided for embodiments of the present invention;

[0051] Figure 3 The position tracking diagram of the space launch and recovery vessel provided in this embodiment of the invention;

[0052] Figure 4 Speed ​​tracking diagram of marine space launch and recovery vessels provided for embodiments of the present invention;

[0053] Figure 5 Anti-interference diagram for dynamic positioning of marine space launch and recovery vessels provided in this embodiment of the invention;

[0054] Figure 6 This is a fault diagram of dynamic positioning deviation of a marine aerospace launch and recovery vessel provided in an embodiment of the present invention;

[0055] Figure 7 A multiplicative fault diagram of dynamic positioning for marine space launch and recovery vessels provided in this embodiment of the invention;

[0056] Figure 8 The dynamic positioning control rate diagram of a marine aerospace launch and recovery vessel provided in this embodiment of the invention. Detailed Implementation

[0057] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0058] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0059] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0060] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0061] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0062] like Figure 1 As shown, the dynamic positioning fault-tolerant and anti-interference method for marine aerospace launch and recovery vessels provided by this invention specifically includes the following processes:

[0063] S1: Based on the position and heading angle information of the dynamic positioning of the marine space launch and recovery vessel in the geodetic coordinate system, and the corresponding velocity information in the appendage coordinate system of the marine space launch and recovery vessel, a nonlinear kinematic model of the dynamic positioning of the marine space launch and recovery vessel is established.

[0064] S2: Considering the wind, waves, currents, and unmodeled dynamic time-varying environmental disturbances in the marine environment where the space launch and recovery vessel is maneuvering and operating, and also considering the dynamic positioning problem under the combined failure of the propulsion of the space launch and recovery vessel, a dynamic positioning dynamic model of the space launch and recovery vessel is established.

[0065] S3: Design an interference observer to estimate and counteract time-varying environmental interference in the dynamic positioning of marine space launch and recovery vessels; design a deviation fault observer to estimate additive faults online and compensate for additive faults occurring in the propulsion system of marine space launch and recovery vessels; design a multiplicative fault adaptive observer to estimate and compensate for efficiency factors under multiplicative faults.

[0066] S4: Based on the interference observer, the deviation fault observer, and the multiplicative fault adaptive observer, and using the projection algorithm, a composite anti-interference fault-tolerant controller is designed.

[0067] S5: Using the linear matrix inequality algorithm, solve the gain matrix in the fault-tolerant anti-interference controller, the interference observer, and the observation gain matrix in the deviation fault observer of the dynamic positioning of the marine aerospace launch and recovery vessel, so as to achieve the expected value of the dynamic positioning of the marine aerospace launch and recovery vessel.

[0068] This invention provides a fault-tolerant and anti-interference method for dynamic positioning of marine space launch and recovery vessels. It primarily addresses the research on dynamic positioning control of marine space launch and recovery vessels considering unknown external marine environmental interference and mixed propulsion failures. Utilizing interference observers, deviation fault observers, and multiplicative fault adaptive observers, it solves the problems of online estimation and suppression of unknown external marine environmental interference affecting the dynamic positioning of marine space launch and recovery vessels, and estimation and compensation for mixed propulsion failures. Furthermore, it employs a composite fault-tolerant and anti-interference controller to correct tracking feedback control errors, effectively enhancing the fault-tolerant and anti-interference capabilities of marine space launch and recovery vessels, improving the reliability of dynamic positioning control, and ensuring that the tracking target position of the marine space launch and recovery vessel achieves the expected results.

[0069] Preferably, in conjunction with the above scheme, the dynamic positioning kinematic model of the marine space launch and recovery vessel in step S1 is as follows:

[0070]

[0071]

[0072] In the formula: η=[x,y,ψ] T The position vector in the northeast coordinate system is composed of the ship's actual position (x, y) and heading angle ψ; υ = [u, v, r] T The velocity vector in the attached coordinate system is composed of the ship's forward velocity u, lateral drift velocity v, and bow roll angular velocity r; J(ψ) is defined as the rotation matrix, representing the rotation matrix from the attached coordinate system to the northeast coordinate system.

[0073] Preferably, in conjunction with the above scheme, the dynamic model for the dynamic positioning of the marine space launch and recovery vessel in step S2 is as follows:

[0074]

[0075] In equation (3), M is the inertia matrix including the added mass; D(v) is the damping matrix; τ F The control vector provided for the thruster; d(t) is the unknown disturbance vector; θ(t) = [θ1(t), θ2(t), θ3(t)] T The equivalent time-varying force and moment vector on the hull when the propulsion of a marine space launch and recovery vessel experiences a deviation failure.

[0076] Preferably, in combination with the above scheme, the Arrange the matrix for the thrusters; U p =diag(u p1 ,…,u pn) represents the thrust vector output by the thruster; δ = [δ1,…,δ n ] T Here is the efficiency factor matrix; where:

[0077]

[0078] In equation (4), l i =[l x1 ,l y1 [] represents the position coordinates of the i-th thruster on the horizontal plane; Let be the azimuth angle of the i-th thruster.

[0079] Preferably, in combination with the above scheme, the inertia matrix of M is:

[0080]

[0081] In equation (5), m is the mass of the sea-based space launch and recovery vessel; The additional mass caused by the motion of ships used for space launch and recovery at sea; I z x is the moment of inertia. G This is the distance between the ship's center and the origin of the established coordinate system.

[0082] Preferably, in combination with the above scheme, the damping matrix of D(v) is:

[0083]

[0084] In equation (6), u is the velocity vector used by the ship for launching and recovering spacecraft at sea; X u ,Y υ ,Y r N υ N r is the damping coefficient.

[0085] Preferably, in conjunction with the above scheme, the specific design process of the interference observer, the deviation fault observer, and the multiplicative fault adaptive observer in step S3 is as follows: Based on the unknown interference vector d(t) in equations (1) and (3), the following interference observer is designed:

[0086]

[0087] In equation (7), This is an estimate of the interference. This is an estimate of the efficiency factor. For additive fault estimates, K1,K0∈R 3×3 Let K1 be the gain matrix of the interference observer and satisfy K1 = K0M -1 , q∈R 3 This is the auxiliary intermediate vector generated by equation (7);

[0088] Define the estimation error vector of the disturbance observer as:

[0089]

[0090] Preferably, in combination with the above scheme, the deviation fault experienced by the space launch and recovery vessel at sea can be expressed as θ(t)=[θ1(t),θ2(t),θ3(t)] T For additive faults in the propulsion systems of marine space launch and recovery vessels, a deviation fault observer is designed to estimate the fault, and the estimated value is used in the controller to offset the fault. The designed deviation fault observer is as follows:

[0091]

[0092] In equation (8), The fault estimate is K2∈R. 3×3 Let R be the gain matrix of the fault observer, k∈R 3 This is the auxiliary intermediate vector generated by equation (8);

[0093] Define the error vector of the deviation fault observer as:

[0094]

[0095] Preferably, in conjunction with the above scheme, the multiplicative faults experienced by marine space launch and recovery vessels can be represented by an efficiency factor, where 0 < δ < 1 represents a partial failure of the thruster, meaning the thruster cannot output the required control torque but can still maintain its working state, and δ = 1 represents no fault in the thruster. For the multiplicative faults of the thrusters of marine space launch and recovery vessels, an adaptive fault observer is designed to estimate the multiplicative fault efficiency factor, and the estimated value is used in the controller to cancel the fault. The designed adaptive fault observer is as follows:

[0096]

[0097] In equation (9), Here are the estimated efficiency factors, K3, K4 ∈ R. 3×3 Let Proj be the gain matrix of the multiplicative fault adaptive observer. (0,1 The projection operator ensures that the estimated value is within (0,1].

[0098] Define the efficiency factor estimation error vector of the multiplicative fault adaptive observer as:

[0099]

[0100] Preferably, in conjunction with the above scheme, the specific design process of the composite fault-tolerant anti-interference controller in step S4 is as follows: Based on the interference observer, the deviation fault observer, and the multiplicative fault adaptive observer, the following composite fault-tolerant anti-interference controller is designed:

[0101]

[0102] In formula (10), z1=η-η d Z2 = ν - α1 represents the position error of the space launch and recovery vessel at sea; Z2 = ν - α1 represents the velocity vector error of the space launch and recovery vessel at sea; L2 = L2 T ∈R 3×3 To design the controller gain matrix; α1∈R 3 This is a virtual function vector.

[0103] Preferably, in combination with the above scheme, in step S4, a composite fault-tolerant anti-interference controller is designed based on the interference observer, the deviation fault observer, and the multiplicative fault adaptive observer. The specific process is as follows:

[0104] Let the positional error between the launch and recovery vessels at sea be z1 = η - η d By differentiating the error between positions, we can obtain:

[0105]

[0106] Define a virtual function vector α1∈R 3 as follows:

[0107] α1=-J -1 (ψ)L1z1+J -1 (ψ)η d (12);

[0108] In equation (12), the parameter matrix L1 = L1 T ∈R 3×3 It is positive.

[0109] Let the velocity vector error of the space launch and recovery vessel at sea be z2=ν-α1. Then, equation (11) can be expressed as:

[0110]

[0111] Next, construct the constructor. Taking the derivative of this yields...

[0112]

[0113] Differentiating the velocity vector error gives:

[0114]

[0115] Next, we select the augmented Lyapunov function. Then the derivative of the function is:

[0116]

[0117] Based on interference observers and fault observers, the composite anti-interference fault-tolerant controller for marine space launch and recovery vessels is designed as follows:

[0118]

[0119] In equation (17), L2 = L2 T ∈R 3×3 To design the controller gain matrix.

[0120] Preferably, combining the above scheme, the linear matrix inequality algorithm is used to solve for the gain matrix in the composite fault-tolerant anti-interference controller of the dynamic positioning of marine aerospace launch and recovery vessels, and the observation gain matrix in the interference observer and fault observer, thereby achieving the expected value in the dynamic positioning of marine aerospace launch and recovery vessels. The specific process is as follows:

[0121] After obtaining the composite fault-tolerant anti-interference controller in steps S4 and S5, the method further includes:

[0122] S6: Using the linear matrix inequality algorithm, adjust the gain matrices K0, K1, and K2 of the interference observer and the deviation fault observer, and adjust the gain matrices K3 and K4 of the multiplicative fault adaptive observer, so that the tracking performance and convergence speed of the interference observer, the deviation fault observer, and the multiplicative fault adaptive observer meet the set requirements; where K0∈R 3×3 K1∈R 3 ×3 K2∈R 3×3 Where K0, K1, and K2 are design parameter matrices, and the interference observer design matrix satisfies K1 = K0M -1 K3 is a given Hurwitz matrix, and a given positive definite matrix Q = Q T ∈R 3×3 There exists a positive definite matrix K4 = K4 T ∈R 3×3 And satisfy K3 T K4+K4K3=-Q;

[0123] S7: Using the linear matrix inequality algorithm, adjust the gain matrices L1 and L2 of the composite anti-interference fault-tolerant controller to achieve any desired accuracy in the dynamic positioning error of the space launch and recovery vessel; where L1 and L2 satisfy -L1z1 Tz1 < 0, -L2z2 T z2 < 0, z1 = η - η d Let z2 = ν - α1 be the position error of the space launch and recovery vessel at sea, and let α1 ∈ R be the velocity vector error of the space launch and recovery vessel at sea. 3 This is a virtual function vector.

[0124] To verify the performance of the designed dynamic positioning composite fault-tolerant and anti-interference controller for marine aerospace launch and recovery vessels, a 1:70 scale model ship, CyberShip II (a test ship scaled down from the supply ship, with a length of 1.3m), was used as the research object. The dynamic parameters of this ship are as follows:

[0125]

[0126]

[0127] Determine the desired position η of the sea-based space launch and recovery vessel. d =[x d ,y d ,ψ d ] T for:

[0128] x d =0; y d =0; ψ d =0;

[0129] Let the parameters of external marine environmental disturbances experienced by sea-based space launch and recovery vessels be:

[0130]

[0131]

[0132] Let the propulsion deviation fault vector of a sea-based space launch and recovery vessel during navigation be:

[0133]

[0134] Suppose that the multiplicative fault vector of the propulsion system of a sea-based space launch and recovery vessel during navigation is:

[0135]

[0136] Let the initial state of the sea-based space launch and recovery vessel be:

[0137] υ0=[0m / s,0m / s,0rad / s] T ;

[0138] Take the gain parameter K0 = diag([25,25,25]) in the interference observer, K2 = diag([5,5,5]) in the deviation fault observer, K3 = diag([-3,-0.3,-6]) and K4 = diag([1,5.5,2]) in the multiplicative fault observer, and L1 = diag([1.5,1.5,3.5]) and L2 = diag([10,10,20]) in the composite anti-interference fault-tolerant controller.

[0139] To verify the effectiveness of the dynamic positioning fault-tolerant and anti-interference method for marine aerospace launch and recovery vessels provided by this invention, simulation experiments were conducted. Figure 2 —8 shows the superior positioning advantage of the method of the present invention; wherein, Figure 2 and Figure 3 The image shows the position tracking of a space launch and recovery vessel at sea, demonstrating that the proposed control strategy can overcome environmental interference and ship-generated faults, enabling the vessel to position itself to the desired location with arbitrary precision and maintain a stable attitude. Figure 4 The speed tracking diagram for maritime space launch and recovery vessels further demonstrates that the vessels can be positioned at the intended location and that their speeds are limited and reasonable. Figure 5 The diagram shows the interference resistance of dynamic positioning for ships used for space launch and recovery at sea. As can be seen from the diagram, the interference observer designed in this invention can achieve good estimation and compensation of interference. Figure 6 Diagram showing dynamic positioning deviation faults of ships used for marine space launch and recovery; Figure 7 A diagram illustrating the multiplicative faults in the dynamic positioning of ships used for maritime space launch and recovery; by Figure 6 , Figure 7 It can be seen that under complex fault conditions, both fault observers still have strong estimation capabilities and compensation effects even in the presence of complex disturbances. Figure 8 The diagram shows the dynamic positioning control law for marine space launch and recovery vessels. As can be seen from the diagram, the control force and torque output by the controller are smooth and reasonable. Therefore, the ship dynamic positioning control law designed in this invention, based on a disturbance observer, a deviation fault observer, and a multiplicative fault adaptive observer, enables marine space launch and recovery vessels to reach and position themselves at the desired location with arbitrary precision. Simultaneously, it ensures that all signals in the dynamic positioning control system of marine space launch and recovery vessels are globally consistent and ultimately have boundaries, thus verifying the stated theory.

[0140] The present invention provides a fault-tolerant and anti-interference method for dynamic positioning of marine space launch and recovery vessels. This method considers the dynamic positioning of marine space launch and recovery vessels under unknown external marine environmental interference and mixed propulsion failures. It utilizes interference observers and fault observers to solve the problems of online estimation and suppression of unknown external marine environmental interference affecting the dynamic positioning of marine space launch and recovery vessels, and estimation and compensation for mixed propulsion failures. By employing a composite fault-tolerant and anti-interference controller to correct tracking feedback control errors, it effectively enhances the anti-interference capability of marine space launch and recovery vessels, improves the reliability of their control, and ensures that the dynamic positioning of marine space launch and recovery vessels achieves the expected results. The designed model has a simple structure, thus effectively reducing model complexity and the computational load of the control process.

[0141] In summary, the dynamic positioning fault-tolerant and anti-interference method for marine aerospace launch and recovery vessels provided by this invention has the following beneficial effects:

[0142] First, the fault-tolerant and anti-interference method for dynamic positioning of marine space launch and recovery vessels provided by this invention addresses the dynamic positioning of marine space launch and recovery vessels under unknown external marine environmental interference and mixed propulsion failures. It utilizes interference observers, deviation fault observers, and multiplicative fault adaptive observers to solve the problems of online estimation and suppression of unknown external marine environmental interference and estimation and compensation for mixed propulsion failures in the dynamic positioning of marine space launch and recovery vessels. Furthermore, it effectively enhances the anti-interference capability of marine space launch and recovery vessels and improves the reliability of their control, ensuring that the tracking position of marine space launch and recovery vessels achieves the expected results, thus addressing the problem of correcting tracking feedback control errors.

[0143] Secondly, the fault-tolerant and anti-interference method for dynamic positioning of marine aerospace launch and recovery vessels provided by this invention takes into account the actual performance of composite fault-tolerant and anti-interference control of dynamic positioning of marine aerospace launch and recovery vessels, has low cost and is easy to implement in engineering.

[0144] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the present invention. Any person skilled in the art can make many possible variations and modifications to the technical solution of the present invention, or modify it into equivalent embodiments, without departing from the scope of the present invention. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technology of the present invention without departing from the scope of the present invention are within the protection scope of the present invention.

Claims

1. A fault-tolerant and interference-resistant method for dynamic positioning of marine space launch and recovery vessels, characterized in that, The method Includes the following processes: S1: Based on the position and heading angle information of the dynamic positioning of the marine space launch and recovery vessel in the geodetic coordinate system, and the corresponding velocity information in the appendage coordinate system of the marine space launch and recovery vessel, a nonlinear kinematic model of the dynamic positioning of the marine space launch and recovery vessel is established. S2: Considering the wind, waves, currents, and unmodeled dynamic time-varying environmental disturbances in the marine environment where the space launch and recovery vessel is maneuvering and operating, and also considering the dynamic positioning problem under the combined failure of the propulsion of the space launch and recovery vessel, a dynamic positioning dynamic model of the space launch and recovery vessel is established. S3: Design an interference observer to estimate and counteract time-varying environmental interference in the dynamic positioning of ships used for maritime space launch and recovery; A bias fault observer is designed to estimate additive faults online and compensate for additive faults occurring in the propulsion systems of ships used for marine space launches and recovery. A multiplicative fault adaptive observer is designed to estimate and compensate for efficiency factors under multiplicative faults. S4: Based on the interference observer, the deviation fault observer, and the multiplicative fault adaptive observer, and using the projection algorithm, a composite fault-tolerant anti-interference controller is designed. S5: Using the linear matrix inequality algorithm, solve the gain matrix in the fault-tolerant anti-interference controller, the interference observer, and the observation gain matrix in the deviation fault observer of the dynamic positioning of the marine aerospace launch and recovery vessel, so as to achieve the expected value of the dynamic positioning of the marine aerospace launch and recovery vessel. The specific design process of the composite fault-tolerant anti-interference controller in step S4 is as follows: Based on the interference observer, the deviation fault observer, and the multiplicative fault adaptive observer, the following composite fault-tolerant anti-interference controller is designed: （10）； In equation (10), For the positional error of ships used for space launch and recovery at sea; For the velocity vector error of ships used for space launch and recovery at sea; To design the controller gain matrix; For virtual function vectors; After obtaining the composite fault-tolerant anti-interference controller in steps S4 and S5, the method further includes: S6: Using the linear matrix inequality algorithm, adjust the gain matrices of the interference observer and the deviation fault observer. , , Adjusting the gain matrix of the multiplicative fault adaptive observer , To ensure that the tracking performance and convergence speed of the interference observer, the deviation fault observer, and the multiplicative fault adaptive observer meet the set requirements; , , ,in, , , All are design parameter matrices, and the interference observer design matrix satisfies ; Given a Hurwitz matrix, given a positive definite matrix There exists a positive definite matrix And satisfy ; S7: Adjust the gain matrix of the composite fault-tolerant anti-interference controller using the linear matrix inequality algorithm. , This is to ensure that the dynamic positioning error of ships used for space launch and recovery at sea reaches any desired accuracy. , satisfy , , For the positional error of ships used for space launch and recovery at sea, For the velocity vector error of ships used for space launch and recovery at sea, This is a virtual function vector.

2. The method for dynamic positioning fault-tolerant and anti-interference of marine aerospace launch and recovery vessels according to claim 1, characterized in that, The specific kinematic model for the dynamic positioning of the marine space launch and recovery vessel in step S1 is as follows: （1）； （2）； In the formula: The position vector in the northeast coordinate system is determined by the ship's actual position. and bow angle constitute; This is the velocity vector in the attached coordinate system, which consists of the ship's forward speed. Horizontal drift speed and bow roll rate ; Defined as a rotation matrix, it represents the rotation matrix from the attached coordinate system to the northeast coordinate system.

3. The method for dynamic positioning fault-tolerant and anti-interference of marine aerospace launch and recovery vessels according to claim 1, characterized in that, The dynamic model for the dynamic positioning of the space launch and recovery vessel in step S2 is as follows: （3）； In equation (3), The inertia matrix includes the added mass; Here is the damping matrix; The control vector provided for the thrusters; The interference vector is unknown. The equivalent time-varying force and moment vector on the hull when the propulsion of a marine space launch and recovery vessel experiences a deviation failure.

4. The method for dynamic positioning fault-tolerant and anti-interference of marine aerospace launch and recovery vessels according to claim 3, characterized in that, The , Arrange the matrix for the thrusters; The thrust vector output by the thruster; Here is the efficiency factor matrix; where: （4）； In equation (4), These are the position coordinates of the i-th thruster on the horizontal plane; Let be the azimuth angle of the i-th thruster.

5. The method for dynamic positioning fault-tolerant and anti-interference of marine aerospace launch and recovery vessels according to claim 3, characterized in that, The The inertia matrix is: （5）； In equation (5), For the quality of ships used for sea-based space launch and recovery; The additional mass caused by the motion of ships used for space launch and recovery at sea; It is the moment of inertia; This is the distance between the ship's center and the origin of the established coordinate system.

6. The method for dynamic positioning fault-tolerant and anti-interference of marine aerospace launch and recovery vessels according to claim 3, characterized in that, The The damping matrix is: （6）； In equation (6), The velocity vector used for navigation of ships conducting space launches and recovery at sea; is the damping coefficient.

7. The method for dynamic positioning fault-tolerant and anti-interference of marine aerospace launch and recovery vessels according to claim 1, characterized in that, The specific design process of the interference observer, the deviation fault observer, and the multiplicative fault adaptive observer in step S3 is as follows: Based on the unknown interference vector in equations (1) and (3) Design the following interference observer: （7）； In equation (7), This is an estimate of the interference. This is an estimate of the efficiency factor. For additive fault estimates, Let be the gain matrix of the interference observer and satisfy... , is the auxiliary intermediate vector generated by equation (7).

8. The method for dynamic positioning fault-tolerant and anti-interference of marine aerospace launch and recovery vessels according to claim 3, characterized in that, Deviation faults experienced by sea-based space launch and recovery vessels are represented as follows: For additive faults in the propulsion systems of marine space launch and recovery vessels, a deviation fault observer is designed to estimate the fault, and the estimated value is used in the controller to offset the fault. The designed deviation fault observer is as follows: （8）； In equation (8), This is an estimate of the fault. Here is the gain matrix of the fault observer. This is the auxiliary intermediate vector generated by equation (8); Multiplicative faults experienced by marine space launch and recovery vessels are represented by an efficiency factor. For propulsion multiplicative faults in marine space launch and recovery vessels, an adaptive fault observer is designed to estimate the multiplicative fault efficiency factor. This estimated value is then used in the controller to offset the fault. The designed adaptive fault observer is as follows: （9）； In equation (9), This is an estimate of the efficiency factor. Here is the gain matrix of the multiplicative fault adaptive observer. To ensure the estimated value is within the projection operator .

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