Underwater multi-vehicle constraint control method and device based on NSDF

Abstract

The invention discloses an underwater multi-vehicle constraint control method based on an NSDF (Non-Software Definition Function), and the method comprises the following steps: S1, collecting the current position and expected position data of a plurality of underwater vehicles in real time; s2, establishing a corresponding constraint model; s3, acquiring water depth information of each aircraft, and determining a position constraint condition under the current water depth; s4, calculating and analyzing an intersection of each position constraint condition, and constructing an NSDF model; s5, determining a kinematic model of the underwater vehicle, and designing a Lyapunov function to guarantee the stability of the system; and S6, according to the designed kinematics control law, outputting an expected speed for a dynamic controller to respond. The invention further discloses an underwater multi-vehicle constraint control device based on the NSDF. According to the underwater multi-vehicle constraint control method and device based on the NSDF, through the NSDF and the Lyapunov function theory, the stability and safety of an underwater vehicle group during task execution and the smoothness and accuracy of operation are ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater vehicle control, and in particular relates to a NSDF-based underwater multi-vehicle constraint control method and device. Background Art

[0002] With the development of marine resources and the growing demand for marine engineering, underwater detection and operation technology has become an important research direction in the field of marine science and technology. In this context, a system integrating unmanned surface vehicles (USV), telemetry management systems (TMS) and autonomous underwater vehicles (ARV) has emerged, providing efficient and accurate solutions for underwater operations.

[0003] USV, TMS and ARV are all power-driven systems, collectively referred to as underwater vehicles. Due to the particularity of the underwater environment, underwater communication equipment faces more restrictions compared to land communications. In addition, since USV and TMS are connected to each other through an umbilical cable, their relative position is limited by physical factors such as the length of the umbilical cable. In the prior art, when performing tasks, this underwater vehicle system cannot ensure that each vehicle can accurately reach the predetermined location. During the entire operation, the communication between the vehicles is not smooth, and the underwater vehicles lose communication and position.

[0004] Therefore, it is urgent to design an underwater multi-vehicle constraint control method and device based on NSDF to solve the above-mentioned underwater vehicle system that cannot ensure that each vehicle can accurately reach the predetermined position, the communication between vehicles is not smooth during the entire operation process, and the underwater vehicles experience communication loss and position loss. Summary of the invention

[0005] In order to solve the technical problems mentioned in the background technology that the underwater vehicle system cannot ensure that each vehicle can accurately arrive at the predetermined position, the communication between vehicles is not smooth during the whole operation process, and the underwater vehicles experience communication loss and position loss, a NSDF-based underwater multi-vehicle constraint control method and device are provided to solve the above problems.

[0006] To achieve the above-mentioned purpose, the specific technical scheme of the underwater multi-vehicle constraint control method and device based on NSDF of the present invention is as follows:

[0007] A method for underwater multi-vehicle constraint control based on NSDF comprises the following steps:

[0008] S1, real-time collection of current position and expected position data of multiple underwater vehicles;

[0009] S2. Clarify the physical and communication constraints between multiple underwater vehicles and establish corresponding constraint models;

[0010] S3, using the depth sensor or underwater positioning system carried by the underwater vehicle to obtain the water depth information of each vehicle, and combining with the constraint model to establish the position constraint conditions under the current water depth;

[0011] S4, calculating and analyzing the intersection of each position constraint condition, and constructing the NSDF model according to the relative position relationship between the spacecraft;

[0012] S5. Establish the kinematic model of the underwater vehicle and design the Lyapunov function to ensure the stability of the system;

[0013] S6. According to the designed kinematic control law, the desired velocity is output for the dynamic controller to respond. Furthermore, the horizontal position and attitude of the spacecraft in the north-east coordinate system can be described as:

[0014] η k =[x k ,y k , ψ k ] T (k=1, 2, 3)

[0015] Among them, x k is the north position of the spacecraft, y k is the eastward position, ψ k is the heading angle, and k is the aircraft number.

[0016] Furthermore, the velocity of the vehicle in the horizontal plane in the hull coordinate system O-xyz can be described as:

[0017] v k =[u k , v k , r k ] T ,

[0018] Among them, u k is the longitudinal velocity of the spacecraft, v k is the lateral velocity, r k is the bow angular velocity.

[0019] Furthermore, the expected position of each spacecraft is obtained by the task allocator and trajectory planner, which can be described in the NED system as:

[0020] η dk =[x dk ,y dk, ψ dk ] T .

[0021] Furthermore, the USV uses the GNSS on board to obtain the absolute position η of the NED coordinate system 1 , TMS and ARV are obtained by USBL, and their relative positions to USV are Δη 21 =η 2 -η 1 and Δη 31 =η 3 -η 1 , the relative position of ARV and TMS is Δη 32 =η 3 -η 2 =Δη 31 -Δη 21 .

[0022] Furthermore, the action mechanism of the umbilical cable, USBL and UWOC is analyzed. The position of the constrained vehicle is kept within the scope. At any fixed water depth, the horizontal plane section of the constraint is circular. When the water depth of the vehicle is d, the radius of the horizontal plane constraint circle is defined as R. d , the scope of the umbilical cable is a hemisphere, R cable is the length of the umbilical cable. When the water depth is d, the radius of the constraint circle is:

[0023]

[0024] Furthermore, the USBL domain is formed by rotating the fan around the central axis, θ max is the maximum opening angle, R usbl is the effective distance of USBL. When the water depth is d, the radius of the constraint circle is:

[0025]

[0026] Furthermore, the UWOC scope is a cylinder, R uwoc is the effective radius of the UWOC light-emitting device. When the water depth is d, the radius of the constraint circle is:

[0027] R d =R uwoc .

[0028] Furthermore, the horizontal plane constraint circle is converted into a position constraint with the help of an inscribed square:

[0029]

[0030] Among them, x H and x L is the maximum and minimum value of the relative position in the east direction, y Hand L The maximum and minimum values ​​of the relative position to the north direction, so that the relative position in a certain scope satisfies:

[0031] Δη∈{(Δx, Δy, 0)|x L ≤Δx≤x H ∩y L ≤Δy≤y H}.

[0032] An underwater multi-vehicle constraint control device based on NSDF. The multi-vehicle cooperative system includes a USV, a TMS and an ARV, which are the first vehicle, the second vehicle and the third vehicle respectively. The USV determines the relative positions of the TMS and the ARV with the help of USBL. The TMS is connected to the USV through an umbilical cable to realize power supply and communication. Video transmission and communication are realized between the ARV and the TMS through UWOC.

[0033] The underwater multi-vehicle constraint control method and device based on NSDF of the present invention have the following advantages:

[0034] 1) Through the NSDF and Lyapunov function theory, a multi-vehicle kinematic constraint control method is designed to ensure the stability and safety of the underwater vehicle group when performing tasks. It not only effectively guides multiple underwater vehicles to arrive at the predetermined operating position in coordination, but also strictly meets the communication and physical constraints between vehicles during the entire movement process, ensuring smooth and precise operations.

[0035] 2) According to the mechanism of action, a constraint model considering the umbilical cable, ultra short base line (USBL) and underwater wireless optical communication (UWOC) was constructed. It can calculate in real time the various constraints faced by underwater vehicles at a specific water depth, providing accurate data support for the construction of NSDF, thereby optimizing the control performance and operating efficiency of the entire system. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a flow chart of the underwater multi-vehicle constraint control method based on NSDF of the present invention;

[0037] Figure 2 It is a structural schematic diagram of the underwater multi-vehicle restraint control device based on NSDF of the present invention;

[0038] Figure 3 It is a structural schematic diagram of the umbilical cable constraint model of the present invention;

[0039] Figure 4It is a structural schematic diagram of the USBL constraint model of the present invention;

[0040] Figure 5 It is a structural diagram of the UWOC constraint model of the present invention;

[0041] Figure 6 It is a schematic diagram of the structure of the horizontal plane position constraint of the present invention.

[0042] Description of the markings in the figure:

[0043] 1. USV; 2. TMS; 3. ARV; 4. Umbilical cable; 5. USBL; 6. UWOC. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0045] Those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0046] Please refer to the attached Figure 1 To Attachment Figure 6 The present invention describes the underwater multi-vehicle constraint control method and device based on NSDF.

[0047] like Figure 1 As shown, the underwater multi-vehicle constraint control method based on NSDF in the present invention includes the following steps:

[0048] S1, real-time collection of current position and expected position data of multiple underwater vehicles;

[0049] For underwater vehicles that cannot directly obtain position information, the USBL5 high-precision positioning system can be used to obtain relative positions, and combined with the data of the vehicle with known absolute positions, its absolute position can be accurately calculated;

[0050] S2. Clarify the physical and communication constraints between multiple underwater vehicles and establish the corresponding constraint model; based on the design characteristics of the vehicle collaborative system, construct a position constraint model that meets actual needs.

[0051] S3, using the depth sensor or underwater positioning system carried by the underwater vehicle to obtain the water depth information of each vehicle, and combining with the constraint model to establish the position constraint conditions under the current water depth;

[0052] S4, calculating and analyzing the intersection of each position constraint condition, and constructing the NSDF model according to the relative position relationship between the spacecraft;

[0053] S5. Establish the kinematic model of the underwater vehicle and design the Lyapunov function to ensure the stability of the system;

[0054] S6. According to the designed kinematic control law, the desired speed is output for the dynamic controller to respond.

[0055] Through the NSDF and Lyapunov function theory, a multi-vehicle kinematic constraint control method was designed to ensure the stability and safety of the underwater vehicle group when performing tasks. It not only effectively guides multiple underwater vehicles to arrive at the predetermined operating position in coordination, but also can strictly meet the communication and physical constraints between vehicles during the entire movement process, ensuring smooth and precise operations.

[0056] Furthermore, the horizontal position and attitude of the aircraft in the north-east coordinate system can be described as:

[0057] η k =[x k ,y k , ψ k ] T (k=1,2,3) where x k is the north position of the spacecraft, y k is the eastward position, ψ k is the heading angle, and k is the aircraft number.

[0058] Furthermore, the velocity of the vehicle in the horizontal plane in the hull coordinate system O-xyz can be described as: v k =[u k , v k , r k ] T Among them, u k is the longitudinal velocity of the spacecraft, v k is the lateral velocity, r k is the bow angular velocity.

[0059] Furthermore, the expected position of each spacecraft is obtained by the task allocator and trajectory planner, which can be described in the NED system as: dk =[x dk ,y dk , ψ dk ] T .

[0060] Similarly, the derivative of the desired position is It can also be obtained.

[0061] Furthermore, USV1 uses the GNSS on board to obtain the absolute position η of the NED coordinate system 1 , using USBL5 to obtain TMS2 and ARV3, whose relative positions to USV1 are Δη 21 =η 2 -η 1 and Δη 31 =η 3 -η 1 , the relative position of ARV3 and TMS2 is Δη 32 =η 3 -η 2 =Δη 31 -Δη 21 .

[0062] Further, if Figures 3 to 5 As shown, the action mechanism of umbilical cable 4, USBL5 and UWOC6 is analyzed. The position of the constrained aircraft is kept within the scope. At any fixed water depth, the horizontal plane section of the constraint is a circle. When the water depth of the aircraft is d, the radius of the horizontal plane constraint circle is defined as R. d , the scope of action of the umbilical cable 4 is a hemisphere, R cable is the length of umbilical cable 4. When the water depth is d, the radius of the constraint circle is:

[0063]

[0064] The USBL5 scope is formed by rotating the fan around the central axis, θ max is the maximum opening angle, R usbl is the effective distance of USBL5. When the water depth is d, the radius of the constraint circle is:

[0065]

[0066] The scope of UWOC is a cylinder, R uwoc is the effective radius of the UWOC6 light-emitting device. When the water depth is d, the radius of the constraint circle is:

[0067] R d =R uwoc .

[0068] Further, if Figure 6 As shown, the horizontal plane constraint circle is converted into a position constraint with the help of an inscribed square:

[0069]

[0070] Among them, x H and x L is the maximum and minimum value of the relative position in the east direction, y H and L The maximum and minimum values ​​of the relative position to the north direction, so that the relative position in a certain scope satisfies:

[0071] Δη∈{(Δx, Δy, 0)|x L ≤Δx≤x H ∩y L ≤Δy≤y H}.

[0072] like Figure 2 As shown, the relative positions of the multi-vessel system of the example need to satisfy the following constraints:

[0073]

[0074] By finding the intersection of the above position constraints, the position constraints of each underwater vehicle can be obtained;

[0075]

[0076] The NSDF model that constrains the north and east positions is selected as:

[0077]

[0078] Rewritten in compact form:

[0079] H(η k , η Lk , η Hk )=diag([h x ,h y , 0]).

[0080] Determine the horizontal plane three-degree-of-freedom kinematic model of the underwater vehicle as follows: Where is the rotation matrix, the specific form is:

[0081]

[0082] Define the position tracking error as e k =η k -η dk , and its tracking error system dynamics is The Lyapunov function is constructed as:

[0083]

[0084] The designed kinematic control law is:

[0085]

[0086] V k The derivations are:

[0087]

[0088] Therefore, when the condition λ is satisfied min (K k )>0, the tracking error signal e k (t) Uniformly eventually bounded.

[0089] v k As the input of the subsequent dynamic controller of the underwater vehicle, the gain K k Under the appropriate premise, each underwater navigation robot can maintain corresponding communication and physical constraints while heading to the predetermined location.

[0090] The present invention also provides an underwater multi-vehicle restraint control device based on NSDF, such as Figure 2 As shown, the multi-vessel collaborative system includes a USV1, a TMS2 and an ARV3, which are the first, second and third vessels respectively. USV1 determines the relative positions of TMS2 and ARV3 with the help of USBL5. TMS2 and USV1 are connected through an umbilical cable 4 for power supply and communication. Video transmission and communication are achieved between ARV3 and TMS2 through UWOC6.

[0091] According to the mechanism of action, a constraint model considering the umbilical cable 4, ultra short base line (USBL) and underwater wireless optical communication (UWOC) was constructed. It can calculate in real time the various constraints faced by underwater vehicles at a specific water depth, providing accurate data support for the construction of NSDF, thereby optimizing the control performance and operating efficiency of the entire system.

[0092] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A method for underwater multi-vehicle constraint control based on NSDF, characterized in that: The steps include: S1, real-time collection of current position and expected position data of multiple underwater vehicles; S2. Clarify the physical and communication constraints between multiple underwater vehicles and establish corresponding constraint models; S3, using the depth sensor or underwater positioning system carried by the underwater vehicle to obtain the water depth information of each vehicle, and combining with the constraint model to establish the position constraint conditions under the current water depth; S4, calculating and analyzing the intersection of each position constraint condition, and constructing the NSDF model according to the relative position relationship between the spacecraft; S5. Establish the kinematic model of the underwater vehicle and design the Lyapunov function to ensure the stability of the system; S6. According to the designed kinematic control law, the desired speed is output for the dynamic controller to respond.

2. The underwater multi-vehicle constraint control method based on NSDF according to claim 1 is characterized in that: The horizontal position and attitude of the spacecraft in the north-east coordinate system can be described as: or k =[x k ,y k ,ψ k ] T (k=1,2,3) Among them, x k is the north position of the spacecraft, y k is the eastward position, ψ k is the heading angle, and k is the aircraft number.

3. The underwater multi-vehicle constraint control method based on NSDF according to claim 1 is characterized in that: The velocity of the vehicle in the horizontal plane in the hull coordinate system O-xyz can be described as: n k =[u k ,v k ,r k ] T , Among them, u k is the longitudinal velocity of the vehicle, v k is the lateral velocity, r k is the bow angular velocity.

4. The underwater multi-vehicle constraint control method based on NSDF according to claim 1 is characterized in that: The expected position of each spacecraft is obtained by the task allocator and trajectory planner, which can be described in the NED system as: or dk =[x dk ,y dk ,ψ dk ] T 。 5. The underwater multi-vehicle constraint control method based on NSDF according to claim 4 is characterized in that: The USV uses the GNSS on board to obtain the absolute position η1 of the NED coordinate system, and uses the USBL to obtain the TMS and ARV, whose relative positions to the USV are Δη 21 =η2-η1 and Δη 31 =η3-η1, the relative position of ARV and TMS is Δη 32 =η3-η2=Δη 31 -Δη 21 .

6. The underwater multi-vehicle constraint control method based on NSDF according to claim 5 is characterized in that: The action mechanism of the umbilical cable, USBL and UWOC is analyzed. The position of the constrained vehicle is kept within the scope. At any fixed water depth, the horizontal plane section of the constraint is circular. When the water depth of the vehicle is d, the radius of the horizontal plane constraint circle is defined as R. d , the scope of the umbilical cable is a hemisphere, R cable is the length of the umbilical cable. When the water depth is d, the radius of the constraint circle is:

7. The underwater multi-vehicle constraint control method based on NSDF according to claim 5 is characterized in that: The USBL scope is formed by rotating the fan around the central axis, θ max is the maximum opening angle, R usbl is the effective distance of USBL. When the water depth is d, the radius of the constraint circle is:

8. The underwater multi-vehicle constraint control method based on NSDF according to claim 6 is characterized in that: The scope of UWOC is a cylinder, R uwoc is the effective radius of the UWOC light-emitting device. When the water depth is d, the radius of the constraint circle is: R d =R uwoc 。 9. The underwater multi-vehicle constraint control method based on NSDF according to claim 1 is characterized in that: Convert the horizontal plane constraint circle to a position constraint using an inscribed square: Among them, x H and x L is the maximum and minimum value of the relative position in the east direction, y H and L The maximum and minimum values ​​of the relative position to the north direction, so that the relative position in a certain scope satisfies: Δη∈{(Δx,Δy,0)x L ≤Δx≤x H ∩y L ≤Δy≤y H }。 10. An underwater multi-vehicle constraint control device based on NSDF, characterized in that: The multi-vessel collaborative system includes a USV, a TMS and an ARV, which are the first, second and third vehicles respectively. The USV determines the relative positions of the TMS and ARV with the help of USBL. The TMS and USV are connected by an umbilical cable for power supply and communication. Video transmission and communication are achieved between the ARV and TMS through UWOC.

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