Control method and control system

Abstract

The invention discloses a control method and a control system, and provides a novel control method in view of the situation that the requirement of quickly acquiring target information cannot be met due to the fact that the stability of load equipment is kept by keeping the stability of an unmanned ship in a multi-focus mode in the prior art. According to the method, the interaction between the unmanned ship and the load equipment within a preset time period under external environment interference can be predicted through a target model, and the compensation control angle of the cradle head is determined according to the interaction so as to realize the control of the cradle head in the first aspect; in addition, the bandwidth feed-forward compensation of the control system is determined according to the feed-forward compensation design so as to control the holder in the second aspect, and meanwhile, the state of the unmanned ship is controlled in the third aspect according to the feedback controller. The unmanned ship is stably controlled from the unmanned ship, the holder bearing the load equipment is also stably controlled, intelligent control over coupling linkage of the unmanned ship and the load equipment is achieved, and stable pointing of the load equipment is guaranteed.

Description

Technical Field

[0001] The present disclosure generally relates to the field of automation control, and in particular to a control method and a control system. Background Art

[0002] When an unmanned boat is sailing on the sea, it will inevitably sway in six degrees of freedom due to the influence of dynamic uncertain ocean environment disturbances such as wind, first-order wave force, and current. The violent swaying makes it impossible for the sensors on the boat to maintain the desired direction, so that they cannot continuously capture the target.

[0003] At present, existing technologies are mostly focused on unmanned boat roll reduction technology and wave compensation devices, that is, keeping the payload stable by keeping the unmanned boat stable. However, when the boat's posture changes, the payload direction usually has to swing several times before it can stabilize. This obviously cannot meet the need to quickly obtain target information, and ignores the intrinsic relationship between three-dimensional motion data under different waves, wind speeds and wind force conditions, resulting in limited response capabilities of the stabilization device under different sea conditions, and the intrinsic relationship between multi-degree-of-freedom data is difficult to take into account. Summary of the invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a control method and a control system for smoothly controlling the load equipment on an unmanned boat.

[0005] A first aspect provides a control method, which is applied to a control system, wherein the control system includes an unmanned boat, a pan / tilt platform disposed on the unmanned boat, and a load device installed on the pan / tilt platform, and the method includes: Predicting the interaction between the unmanned boat and the payload equipment under external environmental interference within a preset time period based on the target model, and determining the compensation control angle of the gimbal through the interaction; Determining a first control strategy of the gimbal based on the compensation control angle; Determine the bandwidth feedforward compensation of the control system and the state compensation parameters of the unmanned boat based on the feedforward compensation design and the feedback controller, determine the second control strategy of the gimbal according to the bandwidth feedforward compensation, and determine the third control strategy of the unmanned boat according to the state compensation parameters; The pan / tilt platform is stably controlled according to the first control strategy and the second control strategy respectively, and the unmanned boat is stably controlled according to the third control strategy of the unmanned boat.

[0006] The control method provided by the present application takes into account that the existing technology focuses on maintaining the stability of the payload equipment by keeping the unmanned boat stable, which leads to the inability to meet the need for rapid acquisition of target information. Therefore, the present application provides a new control method, which can predict the interaction between the unmanned boat and the payload equipment under the interference of the external environment within a preset time period through a target model, and determine the compensation control angle of the gimbal according to the interaction to achieve the first aspect of the control of the gimbal; in addition, the present application also determines the bandwidth feedforward compensation of the control system according to the feedforward compensation design to achieve the second aspect of the control of the gimbal, and also controls the state of the unmanned boat in the third aspect according to the feedback controller. The present application not only performs stable control of the unmanned boat from the unmanned boat, but also performs stable control of the gimbal carrying the payload equipment, realizes the intelligent control of the coupling and linkage between the unmanned boat and the payload equipment, and ensures the stable pointing of the payload equipment.

[0007] The second aspect provides a control system, which is used to execute the control method of the first aspect. The control system includes an unmanned boat, a pan-tilt platform arranged on the unmanned boat, and a load device installed on the pan-tilt platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 An application scenario diagram of a control method provided in this application; Figure 2 A flow chart of the steps of a control method provided in this application; Figure 3 A flow chart of the steps of a control method provided in this application; Figure 4 A flow chart of the steps of a control method provided in this application; Figure 5 A flow chart of the steps of a control method provided in this application; Figure 6 A flow chart of the steps of a control method provided in this application; Figure 7 A flow chart of the steps of a control method provided in this application; Figure 8 A schematic diagram of the structure of a computer system for an unmanned boat provided in this application. DETAILED DESCRIPTION

[0009] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0010] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0011] Please refer to Figure 1 , Figure 1 The present application provides a control system, which includes an unmanned boat, a pan-tilt platform arranged on the unmanned boat, and a load device installed on the pan-tilt platform. The pan-tilt platform may be an automatic pan-tilt platform, and the automatic pan-tilt platform performs stability control by controlling the rotation angle of a shaft motor arranged therein. The load device is, for example, various sensor devices arranged on the unmanned boat.

[0012] Combine the following Figure 2 The control method provided in this application is exemplarily described. Figure 2 A flow chart of the steps of a control method provided in this application, in which the method is applied to Figure 1 The method is described by taking the control system in as an example. The method comprises the following steps: Step S20, predicting the interaction between the unmanned boat and the payload equipment under the interference of the external environment within a preset time period based on the target model, and determining the compensation control angle of the gimbal through the interaction; Among them, the target model is used to describe the interaction between the unmanned boat and the payload equipment under the interference of the external environment, that is, the impact of the unmanned boat on the payload equipment installed on it when it is shaken by the wind, first-order wave force, flow, etc., and the reverse impact of the payload equipment on the unmanned boat based on the impact of the unmanned boat shaking. The target model can be used to quantify the mutual influence between the two, so as to determine the compensation for the motor angle of the gimbal in order to keep the payload equipment pointing steadily based on the quantified data.

[0013] Since a payload device is installed on the gimbal, and the gimbal can maintain the stable pointing of the payload device by controlling the motor angle set therein, when the unmanned boat is shaken by interference such as wind, first-order wave force, and flow, the motor angle set in the gimbal is bound to change, which will cause the payload device to be unable to maintain a stable pointing direction. Therefore, by determining the compensation control angle of the gimbal through interaction, the motor angle set in the gimbal can be accurately compensated, thereby controlling the motor angle to rotate to the required angle. Through the intervention of the gimbal, the present application can prevent the payload device from being greatly affected by the unmanned boat when the unmanned boat is disturbed by the external environment, thereby maintaining the posture for stable pointing to obtain the required information.

[0014] In an alternative embodiment, the target model may be based on Figure 3 The steps shown are constructed to obtain: Step S301, obtaining environmental disturbance torque, external control torque, generalized mass matrix, Coriolis force matrix and gravity torque and coupling relationship; Step S302, constructing a target model according to the environmental disturbance torque, the external control torque, the generalized mass matrix, the Coriolis force matrix, the gravity torque and the coupling relationship.

[0015] Among them, the environmental disturbance torque, external control torque, generalized mass matrix, Coriolis force matrix, and gravity torque can all be obtained through various detection equipment and processors on the unmanned boat. The coupling relationship refers to the relationship between the environmental disturbance torque, external control torque, generalized mass matrix, Coriolis force matrix, and gravity torque.

[0016] Exemplarily, the target model constructed is ,in, represents the interaction between the unmanned boat and the payload equipment under the interference of the external environment at time t, is the environmental disturbance torque, such as wind and wave force; is the external control torque; is the generalized coordinate vector of the system, which refers to the generalized coordinate between the unmanned boat and the payload; is the generalized mass matrix; is the Coriolis force matrix; is the gravitational torque.

[0017] After constructing the target model, the present application can predict the interaction between the unmanned boat and the payload equipment under external environmental interference within a preset time period based on the target model, the state transfer function and the Jacobian matrix of the measurement function in the current state.

[0018] Exemplarily, the present application may be to obtain the interaction between the unmanned boat and the payload equipment under the interference of the external environment within a preset time period according to the following formula:

[0019] in, It represents the interaction between the unmanned boat and the payload equipment under the interference of the external environment at time t+1; represents the state transition function, represents the measurement function, describing the nonlinear dynamic characteristics of the state; yes In the current The Jacobian matrix at the state linearizes the nonlinearity of the system.

[0020] In another embodiment, the present application may be based on The compensation control angle of the gimbal is determined by the relationship: To compensate the control angle, For interaction.

[0021] Step S30, determining a first control strategy of the pan / tilt head based on the compensation control angle; The compensation control angle is to adjust the rotation angle of the motor provided in the gimbal to stabilize the posture of the payload device installed thereon. The first control strategy is used to adjust the rotation angle of the motor provided in the gimbal.

[0022] In an optional embodiment, it can be based on Figure 4 The steps shown determine the first control strategy of the PTZ: Step S401, obtaining the motor rotation angle of the gimbal at the current moment; Among them, the gimbal is equipped with a motor, and the gimbal controls the posture of the payload device installed thereon through the rotation angle of the motor set in the controller. Therefore, when the posture of the payload device at the current moment is affected by the swaying of the unmanned boat, the posture of the payload device can be kept stable by adjusting the rotation angle of the motor set in the gimbal.

[0023] Therefore, after the compensation control angle is determined through the above steps, the motor rotation angle of the gimbal at the current moment can be obtained first. The motor rotation angle of the gimbal at the current moment can be acquired by an angle sensor, an angle detector and other devices arranged on the gimbal, and sent to the controller of the unmanned boat through a communication network.

[0024] It can be understood that the unmanned boat can send acquisition instructions to angle sensors, angle detectors and other devices installed on the gimbal through the communication network; the angle sensors, angle detectors and other devices can collect the motor angle of the gimbal at the current moment based on the acquisition instruction and send it to the controller of the unmanned boat.

[0025] Step S402, determining whether to increase or decrease the motor rotation angle by compensating the control angle to obtain a first control strategy.

[0026] Among them, the controller of the unmanned boat can receive the motor angle of the gimbal at the current moment sent by the angle sensor, angle detector and other devices set on the gimbal, and then determine to increase or decrease the motor angle according to the compensation control angle, so as to obtain the first control strategy for the gimbal control.

[0027] It can be understood that the controller of the unmanned boat can generate a corresponding control instruction according to the first control strategy, carry the first control strategy in the control instruction, and send the control instruction to the gimbal through the communication channel.

[0028] After receiving the control command sent by the unmanned boat, the gimbal analyzes the control command to obtain the first control strategy, and increases or decreases the rotation angle of the motor according to the first control strategy, thereby reducing the impact of the shaking of the unmanned boat on the payload equipment and achieving the effect of maintaining a stable posture of the payload equipment.

[0029] Step S40, determining the bandwidth feedforward compensation of the control system and the state compensation parameters of the unmanned boat based on the feedforward compensation design and the feedback controller, determining the second control strategy of the gimbal according to the bandwidth feedforward compensation and determining the third control strategy of the unmanned boat according to the state compensation parameters; Among them, the feedforward compensation design is to improve the reception and response speed of the pan-tilt system by compensating the bandwidth of the entire control system. Therefore, the second control strategy is to control the communication bandwidth of the pan-tilt system.

[0030] The feedback controller is designed based on the optimal control theory on the basis of feedforward compensation, which is used to compensate for the overall state of the unmanned boat. Therefore, the third control strategy is an overall control of the unmanned boat, so as to improve the stability of the unmanned boat from the perspective of the unmanned boat, and further achieve the purpose of stabilizing the load equipment. It should be noted here that the second control strategy and the third control strategy are a superposition control strategy, that is, the feedforward compensator and the feedback controller can be integrated into a two-degree-of-freedom controller structure. This two-degree-of-freedom control structure can give full play to the advantages of feedforward and feedback control and improve the robustness and anti-interference ability of the automatic pan-tilt system.

[0031] Exemplarily, the feedforward compensation design is a transfer function designed according to the feedforward time constant, the complex variable and the first constant. The transfer function can be expressed as follows:

[0032] Among them, GF is the transfer function, TF is the feedforward time constant, which is used to offset the time constant of the control system and improve the bandwidth of the control system; S is a complex variable.

[0033] The feedback controller is designed as follows:

[0034] Among them, Z(S) is the transfer function of the feedback controller; k is the state feedback gain matrix, which is used to adjust the state and control quantity. G(S) is the first-order integral link of the control object model S of the gimbal. , K is the gain coefficient.

[0035] In another optional embodiment, Figure 5 As shown, the present application not only controls the state of the unmanned boat through the third control strategy, but also controls the unmanned boat from the following directions: Step S501, obtaining the operating data of the unmanned boat and the expected data corresponding to the operating data; The operation data of the unmanned boat is the data generated during the operation of the unmanned boat, such as the heading angle, speed, position, etc. of the unmanned boat. The expected data corresponding to the operation data may be data determined through historical tests, navigation experience, etc. When the operation data of the unmanned boat reaches the expected data, the posture of the unmanned boat is relatively stable.

[0036] Step S502, determining a fourth control strategy for smoothly controlling the unmanned boat based on an error between the operating data and expected data corresponding to the operating data; Among them, during the operation of the unmanned boat, due to the interference of the external environment, there will be a certain error between its actual operation data and the expected data. This application starts from the error between the two data to control the unmanned boat, so that the operation data of the unmanned boat is as close to the expected data as possible, thereby controlling the attitude stability of the unmanned boat and further realizing the stable control of the load equipment. Therefore, this application can be a fourth control strategy for determining the stable control of the unmanned boat based on the error between the operation data and the expected data corresponding to the operation data.

[0037] The fourth control strategy includes, for example, controlling the unmanned boat to decelerate, controlling the unmanned boat to accelerate, controlling the unmanned boat to adjust the heading angle to the left, controlling the unmanned boat to adjust the heading angle to the right, etc.

[0038] Step S503: stably control the unmanned boat based on the fourth control strategy.

[0039] Among them, after the present application obtains the fourth control strategy through the above method, the heading angle, speed, etc. of the unmanned boat can be adjusted according to the fourth control strategy to keep the unmanned boat in a stable state and further ensure the posture of the load equipment.

[0040] Step S50, stably controlling the pan / tilt platform according to the first control strategy and the second control strategy respectively, and stably controlling the unmanned boat according to the third control strategy of the unmanned boat.

[0041] The first control strategy and the second control strategy are to control the gimbal from different directions respectively, so as to maintain the posture of the payload device installed on the gimbal, so that the payload device can output accurate data. Exemplarily, the first control strategy can be a control strategy for the rotation angle of the motor set in the gimbal. According to the control strategy, the gimbal can perform compensation control on the rotation angle of the motor set therein to eliminate or reduce the influence of the shaking of the unmanned boat on the posture of the payload device. The first control strategy includes, for example, increasing the motor rotation angle or reducing the motor rotation angle.

[0042] The second control strategy is to control and adjust the communication environment of the gimbal according to the bandwidth of the gimbal, so as to improve the gimbal's reception and response to various control instructions sent by the controller of the unmanned boat, so that the gimbal can respond to the control instructions sent by the unmanned boat in a short time, and thus quickly make corresponding adjustments to meet the purpose of the payload equipment quickly obtaining the required information.

[0043] The third control strategy is a comprehensive control of the state of the unmanned boat, that is, this application not only realizes the stable pointing of the payload equipment from the perspective of the gimbal, but also controls the overall operation state of the unmanned boat from the perspective of the unmanned boat, so as to ensure the driving posture of the unmanned boat in a general direction, thereby achieving the purpose of controlling the posture of the payload equipment. It realizes multi-directional control, solves the anti-interference and stable control of the gimbal, realizes the intelligent control of the coupling linkage between the unmanned boat and the payload equipment, and the stability of the payload pointing.

[0044] In another optional embodiment, if the operation data is position data, it can be based on the following Figure 6 The steps shown determine the fourth control strategy for smoothly controlling the unmanned boat: Step S601, determining the position feedback control force of the position controller according to the proportional, integral, and differential gains of the position controller, the current position data of the unmanned boat, and the expected position data of the unmanned boat; The position controller may be set based on control theory and used for position control. The formula corresponding to the position controller is, for example:

[0045] Among them, F is the position feedback control force, x, y, z are the expected position coordinates of the unmanned boat, and x1, y1, z1 are the actual position coordinates of the unmanned boat at the current moment. are the proportional, integral and derivative gains of the position controller.

[0046] Step S602, determining the adjustment direction of the heading angle of the unmanned boat according to the position feedback control force, and determining the adjustment magnitude of the heading angle of the unmanned boat according to the error between the current position data of the unmanned boat and the expected position data of the unmanned boat, to obtain the fourth control strategy.

[0047] Among them, after the position feedback control force of the unmanned boat is obtained by calculating according to the constructed position controller, the present application can determine the adjustment direction of the unmanned boat's heading angle according to the position feedback control force, and determine the adjustment size of the unmanned boat's heading angle according to the error between the unmanned boat's current position data and the unmanned boat's expected position data, thereby obtaining the fourth control strategy for the unmanned boat's heading angle control.

[0048] It can be understood that after the unmanned boat obtains the fourth control strategy, the heading angle of the unmanned boat at the current moment can be adjusted according to the adjustment direction and adjustment size to change the posture of the unmanned boat at the current moment, and further maintain the posture of the payload equipment so that the payload equipment has a stable direction.

[0049] In another optional embodiment, if the operating data is speed data, it can be based on the following Figure 7 The steps shown determine the fourth control strategy for smoothly controlling the unmanned boat: Step S701, determining the speed feedback control force of the speed controller according to the proportional, integral, and differential gains of the speed controller, the current speed data of the unmanned boat, and the expected speed data of the unmanned boat; Step S702, determining the speed addition and subtraction adjustment strategy of the unmanned boat according to the speed feedback control force, and determining the adjustment size of the unmanned boat speed according to the error between the current speed data of the unmanned boat and the expected speed data of the unmanned boat, to obtain a fourth control strategy.

[0050] The speed controller may be set based on control theory and used for speed control. The formula corresponding to the speed controller is, for example:

[0051] Among them, v is the expected speed of the unmanned boat at the current moment, and v1 is the actual speed of the unmanned boat at the current moment. are the proportional, integral and derivative gains of the speed controller.

[0052] It is understandable that the desired speed of the unmanned boat may be different at different times during its travel, or the desired speed may be different at different positions of the unmanned boat. The unmanned boat of the present application may be provided with a corresponding relationship information table between the position and the desired speed. When the speed of the unmanned boat needs to be controlled, the corresponding relationship information table may be read from the memory address corresponding to the unmanned boat to obtain the desired speed. The fourth control strategy for controlling the speed of the unmanned boat is determined based on the desired speed.

[0053] After the speed feedback control force of the unmanned boat is obtained by calculating according to the constructed speed controller, the present application can determine the addition and subtraction adjustment strategy of the unmanned boat speed according to the speed feedback control force, and determine the adjustment size of the unmanned boat speed according to the error between the current speed data of the unmanned boat and the expected speed data of the unmanned boat, thereby obtaining the fourth control strategy for the speed control of the unmanned boat.

[0054] It can be understood that when the unmanned boat obtains the fourth control strategy for the speed control of the unmanned boat, the speed of the unmanned boat at the current moment can be adjusted according to the speed adjustment size to change the posture of the unmanned boat at the current moment, and further maintain the posture of the payload equipment so that the payload equipment has a stable direction.

[0055] It should be noted here that the control of the heading angle and speed of the unmanned boat can be carried out simultaneously, or one of them can be controlled according to needs, and this application does not limit this.

[0056] Of course, the present application can also control other parameters of the unmanned boat by designing other controllers to change the current posture of the unmanned boat in many aspects, further maintain the posture of the payload device, and make the payload device fork point in a stable direction.

[0057] The control method provided by the present application takes into account that the existing technology focuses on maintaining the stability of the payload equipment by keeping the unmanned boat stable, which leads to the inability to meet the need for rapid acquisition of target information. Therefore, the present application provides a new control method, which can predict the interaction between the unmanned boat and the payload equipment under the interference of the external environment within a preset time period through a target model, and determine the compensation control angle of the gimbal according to the interaction to achieve the first aspect of the control of the gimbal; in addition, the present application also determines the bandwidth feedforward compensation of the control system according to the feedforward compensation design to achieve the second aspect of the control of the gimbal, and also controls the state of the unmanned boat in the third aspect according to the feedback controller. The present application not only performs stable control of the unmanned boat from the unmanned boat, but also performs stable control of the gimbal carrying the payload equipment, realizes the intelligent control of the coupling and linkage between the unmanned boat and the payload equipment, and ensures the stable pointing of the payload equipment.

[0058] It should be noted that although the operations of the method of the present invention are described in a particular order in the accompanying drawings, this does not require or imply that the operations must be performed in the particular order, or that all the operations shown must be performed to achieve the desired results. On the contrary, the steps depicted in the flowchart can be performed in a different order. For example, ... Additionally or alternatively, some steps can be omitted, multiple steps can be combined into one step, and / or one step can be decomposed into multiple steps. For example, . . .

[0059] Reference below Figure 8 , which shows a schematic diagram of the structure of a computer system 800 suitable for implementing an unmanned boat according to an embodiment of the present application.

[0060] like Figure 8As shown, the computer system 800 includes a central processing unit (CPU) 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage part 808 to a random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the computer system 800 are also stored. The CPU 801, the ROM 802, and the RAM 803 are connected to each other through a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0061] The following components are connected to the I / O interface 809: an input section 806 including a keyboard, a mouse, etc.; an output section 807 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN card, a modem, etc. The communication section 808 performs communication processing via a network such as the Internet. A drive 810 is also connected to the I / O interface 805 as needed. A removable medium 811, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 810 as needed, so that a computer program read therefrom is installed into the storage section 808 as needed.

[0062] In particular, according to the embodiments of the present disclosure, the above reference Figure 2-7 The described processes may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program comprising a computer program for executing Figure 2-7 In such an embodiment, the computer program may be downloaded and installed from a network via the communication section 809 and / or installed from the removable medium 811.

[0063] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a different order from the order marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0064] The units or modules involved in the embodiments described in the present application may be implemented by software or hardware. The units or modules described may also be arranged in a processor, for example, may be described as: a processor includes an XX unit, a YY unit, and a ZZ unit. The names of these units or modules do not, in some cases, constitute a limitation on the unit or module itself, for example, the XX unit may also be described as a "unit for XX".

[0065] As another aspect, the present application further provides a computer-readable storage medium, which may be a computer-readable storage medium included in the device described in the above embodiment; or a computer-readable storage medium that exists independently and is not assembled into the device. The computer-readable storage medium stores one or more programs, and the programs are used by one or more processors to execute the formula input method described in the present application.

[0066] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A control method, characterized in that: The method is applied to a control system, the control system comprising an unmanned boat, a pan-tilt platform arranged on the unmanned boat, and a load device installed on the pan-tilt platform, the method comprising: Predicting the interaction between the unmanned boat and the payload equipment under external environmental interference within a preset time period based on the target model, and determining the compensation control angle of the gimbal through the interaction; Determining a first control strategy of the gimbal based on the compensation control angle; Determine the bandwidth feedforward compensation of the control system and the state compensation parameters of the unmanned boat based on the feedforward compensation design and the feedback controller, determine the second control strategy of the gimbal according to the bandwidth feedforward compensation, and determine the third control strategy of the unmanned boat according to the state compensation parameters; The pan / tilt platform is stably controlled according to the first control strategy and the second control strategy respectively, and the unmanned boat is stably controlled according to the third control strategy of the unmanned boat.

2. The control method according to claim 1, characterized in that: The method further comprises the step of constructing the target model: Obtain environmental disturbance torque, external control torque, generalized mass matrix, Coriolis force matrix and gravity torque as well as coupling relationships; The target model is constructed according to the environmental disturbance torque, the external control torque, the generalized mass matrix, the Coriolis force matrix, the gravity torque and the coupling relationship.

3. The control method according to claim 1 or 2, characterized in that: The target model-based prediction of the interaction between the unmanned boat and the payload equipment under external environmental interference within a preset time period includes: The interaction is predicted based on the target model, the state transfer function, and the Jacobian matrix of the measurement function at the current state.

4. The control method according to claim 1, characterized in that: Determining the compensation control angle of the pan / tilt platform through the interaction includes: according to The compensation control angle of the pan / tilt platform is determined by the relationship: To compensate the control angle, For interaction.

5. The control method according to claim 1, characterized in that: The determining of the first control strategy of the pan / tilt head based on the compensation control angle comprises: Obtain the motor rotation angle of the gimbal at the current moment; The first control strategy is obtained by determining whether to increase or decrease the motor rotation angle through the compensation control angle.

6. The control method according to claim 1, characterized in that: The feedforward compensation design is a transfer function designed according to a feedforward time constant, a complex variable and a first constant.

7. The control method according to claim 1, characterized in that: The method further comprises: Acquiring operating data of the unmanned boat and expected data corresponding to the operating data; Determining a fourth control strategy for smoothly controlling the unmanned boat based on an error between the operating data and expected data corresponding to the operating data; The unmanned boat is stably controlled based on the fourth control strategy.

8. The control method according to claim 7, characterized in that: The operation data includes current position data of the unmanned boat, and the fourth control strategy for smoothly controlling the unmanned boat based on an error between the operation data and expected data corresponding to the operation data includes: Determining the position feedback control force of the position controller according to the proportional, integral, and differential gains of the position controller, the current position data of the unmanned boat, and the expected position data of the unmanned boat; The fourth control strategy is obtained by determining the adjustment direction of the heading angle of the unmanned boat according to the position feedback control force, and determining the adjustment magnitude of the heading angle of the unmanned boat according to the error between the current position data of the unmanned boat and the expected position data of the unmanned boat.

9. The control method according to claim 7, characterized in that: The operation data includes current speed data of the unmanned boat, and the fourth control strategy for smoothly controlling the unmanned boat based on an error between the operation data and expected data corresponding to the operation data includes: Determining a speed feedback control force of the speed controller according to a proportional, integral, and differential gain of the speed controller, current speed data of the unmanned boat, and expected speed data of the unmanned boat; The fourth control strategy is obtained by determining the addition and subtraction adjustment strategy for the speed of the unmanned boat according to the speed feedback control force, and determining the adjustment size of the unmanned boat speed according to the error between the current speed data of the unmanned boat and the expected speed data of the unmanned boat.

10. A control system, characterized in that: The control system is used to execute the control method described in any one of claims 1 to 9 above, and the control system includes an unmanned boat, a pan-tilt platform arranged on the unmanned boat, and a load device installed on the pan-tilt platform.

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