Control device and method for improving robustness of unmanned ship power system

Abstract

The invention relates to the technical field of unmanned ship control, in particular to a control device and method for improving the robustness of an unmanned ship power system. The double-engine double-pump power system comprises two sets of power systems which operate independently, a sensor assembly is used for collecting current state information and environment information of the unmanned ship, and a control system is used for switching among a single left main engine power system, a single right main engine power system and a double main engine power system according to the current state information and the environment information. The control system is further used for conducting tracking control on the track of the unmanned ship through a PID control algorithm, optimizing PID control parameters in real time through an artificial fish swarm optimization algorithm, and optimizing track tracking control of the unmanned ship. According to the method, it can be guaranteed that the unmanned ship still has the working capacity under the condition that one set of power system fails, the robustness of the unmanned ship power system is improved, and the working capacity is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned boat control, and in particular to a control device and method for improving the robustness of an unmanned boat power system. Background Art

[0002] Unmanned equipment will replace conventional weapons and equipment as the main body of future wars. This is an inevitable trend in the development of current weapons and equipment, among which unmanned surface vessels (USV) are the key development areas. Unmanned boats equipped with a variety of communication devices, navigation equipment, exploration and scanning equipment, and various types of weapons and equipment are an important part of the joint multi-platform combat system (C4ISR). The remote-controlled minesweepers currently in service are seriously insufficient for mid-sea escort and combat support due to the influence of communication distance. Therefore, the research on autonomous control technology of unmanned boats has become urgent, mainly including track tracking, autonomous obstacle avoidance, and target reconnaissance and identification.

[0003] Traditional unmanned boats are mostly single-machine single-pump models, which have the advantages of simple structure and good economy to a certain extent. However, in the execution of special operations, due to the complex surrounding environment and susceptibility to explosion shock, if any link of the power system of traditional unmanned boats has problems, it may cause it to lose power, thus failing to successfully complete the special operations mission, and even risk being intercepted. Summary of the invention

[0004] In view of the shortcomings of the prior art mentioned above, the purpose of the present invention is to provide a control device and method for improving the robustness of the power system of an unmanned boat, which solves the problem that once a problem occurs in any link of the power system of a traditional unmanned boat, it may cause it to lose power, thereby failing to successfully complete special operations tasks and even being at risk of being intercepted.

[0005] To achieve the above-mentioned and other related purposes, the present invention provides a control device for improving the robustness of an unmanned boat power system, comprising:

[0006] The dual-engine dual-pump power system includes two sets of independently operated power systems, including a left main engine power system and a right main engine power system;

[0007] A sensor component, used to collect current status information and environmental information of the unmanned boat;

[0008] A control system, for switching between a single left main engine power system, a single right main engine power system, and a dual main engine power system according to the current state information and environmental information;

[0009] The control system is also used to track and control the track of the unmanned boat through a PID control algorithm;

[0010] The control system is also used to optimize PID control parameters in real time through an artificial fish school optimization algorithm to optimize the track tracking control of the unmanned boat.

[0011] In one embodiment of the present invention, the left main engine power system and the right main engine power system respectively include:

[0012] A diesel engine, whose input end is connected to the output end of the control system;

[0013] A coupling, the input end of which is connected to the output end of the diesel engine;

[0014] a gear box, the input end of which is connected to the output end of the coupling;

[0015] A hydraulic pump and a shaft system, the input ends of which are connected to the output end of the gear box;

[0016] a water jet propulsion device, the input end of which is connected to the output end of the shaft system;

[0017] The output end of the battery pack is connected to the input end of the diesel engine.

[0018] In one embodiment of the present invention, the left main engine power system and the right main engine power system are distributed on the left and right sides of the unmanned boat, and are completely independent in structure and control link.

[0019] In one embodiment of the present invention, the sensor assembly includes Beidou, inertial navigation, Doppler speed meter, temperature and humidity sensor and host supporting sensor.

[0020] The present invention also provides a control method for improving the robustness of an unmanned boat power system, comprising the above-mentioned control device for improving the robustness of an unmanned boat power system, the control method comprising:

[0021] S1. Check the status of the dual-machine dual-pump power system to ensure that the left main engine power system and the right main engine power system are in normal working condition;

[0022] S2, checking the status of the sensor assembly, the control system receiving the special operation task issued by the shore-based control console, and the unmanned boat performs the special operation task in a dual-machine dual-pump mode by default, that is, a dual-host power system;

[0023] S3, the control system shuts down the left main engine power system or the right main engine power system, and switches the control mode of the unmanned boat to a single-machine single-pump mode. After a set time, the shut-down left main engine power system or the right main engine power system is reopened, and the control system switches the control mode of the unmanned boat to a dual-machine dual-pump mode again;

[0024] S4, tracking and controlling the track of the unmanned boat through PID control algorithm;

[0025] S5. When the control mode of the unmanned boat is switched, the control system optimizes the PID control parameters in real time through an artificial fish school optimization algorithm to control the track deviation within an allowable range;

[0026] S6. Repeat step S3 to optimize the track tracking control of the unmanned boat.

[0027] In one embodiment of the present invention, the tracking control of the unmanned boat by using the PID control algorithm in step S4 includes: in the geodetic coordinate system, the track point P i The line segment between (i=0,1,2,3...) is the expected track, and the line between any two adjacent points is a straight line, where P k =[x k ,y k ] T ∈R 2 ,P k+1 =[x k+1 ,y k+1 ] T ∈R 2 The straight line segment between is the current expected track segment, P(t) = [x(t), y(t)] T ∈R 2 is the current position of the unmanned boat, P d (t) = [x d (t),y d (t)] T ∈R 2 is a virtual tracking point, and the track tracking control of the unmanned boat includes tracking the expected track and tracking the expected heading.

[0028] In one embodiment of the present invention, tracking the expected track includes:

[0029] The position of the unmanned boat is adjusted in real time so that the position of the unmanned boat gradually converges to the desired track and continues to sail along the desired track. The control target is as follows:

[0030]

[0031] Among them, P m (t) is the direction of P(t) to P k P k+1 The orthographic projection point of .

[0032] In one embodiment of the present invention, tracking the desired heading includes:

[0033] By adjusting the rudder angle, the heading of the unmanned boat is controlled to always converge to the desired heading, and the control target is the following formula:

[0034]

[0035] in, is the actual heading of the unmanned boat, and θ(t) is the expected heading.

[0036] In one embodiment of the present invention, the real-time optimization of PID control parameters by artificial fish swarm optimization algorithm in step S5 includes:

[0037] S51. Foraging behavior of artificial fish

[0038] The initial position of the artificial fish is X i , the artificial fish randomly selects a state X within its field of view j , the relationship between the two is:

[0039] X j =X i +Visual*Rand(),

[0040] Among them, Visual is the visual area of ​​the artificial fish, Rand() is a random function, if X j The objective function value of the position is better than X i , then X i To X j Move one step, that is:

[0041]

[0042] Otherwise, X i Continue to select new state X within the field of view j , determine whether the forward condition is met. After trying a certain number of times, if it is still not met, perform random behavior, where Step represents the moving step length;

[0043] S52. Swarming behavior of artificial fish

[0044] The artificial fish searches for the number and center position of other artificial fish within the current field of view, and the center position of its neighborhood is X c , if the center of the neighborhood is not crowded and the objective function value is better, the artificial fish moves one step toward the center, as shown in the following formula:

[0045]

[0046] S53. Tail-chasing behavior of artificial fish

[0047] Artificial FishX i Search for the artificial fish X with the best objective function among the fish in the current field of view k , if artificial fish X k The surrounding area is not crowded, then the artificial fish Xi Towards X k The direction moves one step to realize the tail-chasing behavior of the artificial fish, as shown in the following formula:

[0048]

[0049] The present invention also provides an electronic device, comprising a processor and a memory, wherein the memory stores program instructions, and the processor executes the program instructions to implement the above-mentioned control method for improving the robustness of the unmanned boat power system.

[0050] As described above, a control device and method for improving the robustness of an unmanned boat power system of the present invention has the following features:

[0051] Beneficial effects:

[0052] (1) The control device for improving the robustness of the unmanned boat power system of the present invention is designed with a dual-engine dual-pump power system, i.e., two completely independent power systems, which can ensure that the unmanned boat can still operate even if one power system fails. The present invention improves the robustness of the unmanned boat power system and enhances its operating capability.

[0053] (2) The control method for improving the robustness of the unmanned boat power system of the present invention debugs three sets of control parameters respectively to adapt to the left main engine power system, the right main engine power system and the special operation of the dual-engine dual-pump mode. The robustness of the basic control of the unmanned boat and the ability of special operations are greatly improved.

[0054] (3) The control method for improving the robustness of the unmanned boat power system of the present invention uses an artificial fish swarm optimization algorithm to further optimize the control system parameters, thereby improving the track tracking control accuracy of the unmanned boat and further enhancing the special operation capability of the unmanned boat.

[0055] (4) The control method for improving the robustness of the unmanned boat power system of the present invention monitors the operating status of the power system in real time, thereby greatly improving the safety of the special operations of the unmanned boat. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A structural block diagram of a control device for improving the robustness of an unmanned boat power system provided in an embodiment of the present application.

[0057] Figure 2 A structural block diagram of a control system of a control device for improving the robustness of an unmanned boat power system provided in an embodiment of the present application.

[0058] Figure 3 A flow chart of a control method for improving the robustness of an unmanned boat power system provided in an embodiment of the present application.

[0059] Figure 4 A LOS guidance schematic diagram of a control method for improving the robustness of an unmanned boat power system provided in an embodiment of the present application.

[0060] Figure 5 A block diagram of an artificial fish swarm optimization algorithm for a control method for improving the robustness of an unmanned boat power system provided in an embodiment of the present application.

[0061] Figure 6 A diagram showing the effect of an unmanned boat track tracking control according to a control method for improving the robustness of an unmanned boat power system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0062] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0063] It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present invention in a schematic manner, and thus the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0064] Terms such as first or second can be used to describe various components, but these components are not limited by the above terms. The above terms are used to distinguish one component from another component, for example, without departing from the scope of the concept according to the present disclosure, a first component can be referred to as a second component, and similarly, a second component can be referred to as a first component.

[0065] In addition, "connected / coupled" means that one component is directly electrically coupled to another component or is indirectly electrically coupled through another component. The singular form may include the plural form unless explicitly stated in the sentence. In addition, "include / include" or "includes / includes" used in this specification indicates that one or more components, steps, operations, and elements exist or have been added. The specific structural or functional descriptions of the examples of the implementation of the concepts disclosed in this specification are only illustrated to describe the examples of the implementation of the concepts, and the examples of the implementation of the concepts can be implemented in various forms, but these descriptions are not limited to the examples of the implementation described in this specification.

[0066] According to the concept, various modifications and changes can be applied to the examples of the embodiments, so that the examples of the embodiments will be illustrated in the drawings and described in the specification. However, the examples of the embodiments according to the concept are not limited to the specific embodiments, but include all changes, equivalents or replacements included in the spirit and technical scope of the present disclosure.

[0067] It should be understood that when an element is described as being "coupled" or "connected" to another element, the element may be directly coupled or directly connected to the other element, or may be coupled or connected to the other element through a third element. Conversely, it should be understood that when an element is referred to as being "directly coupled to" or "directly coupled to" another element, no other element is placed between them. Other expressions describing the relationship between components (i.e., "between" and "directly between" or "adjacent to" and "directly adjacent to") need to be interpreted in the same manner.

[0068] The terms used in this specification are only used to describe specific examples of the embodiments and are not intended to limit the present disclosure. If there is no clear opposite meaning in the context, the singular form may include the plural form. In this specification, it should be understood that the term "including" or "having" indicates the presence of the features, quantities, steps, operations, components, parts or combinations thereof described in the specification, but the possibility of the presence or addition of one or more other features, quantities, steps, operations, components, parts or combinations thereof cannot be precluded.

[0069] If there is no contrary definition, all terms (including technical terms or scientific terms) used herein have the same meaning as those generally understood by ordinary technicians in the field. If the terms defined in the commonly used dictionary are not clearly defined in this specification, they should be interpreted as having the same meaning as in the context of the relevant technology, and not interpreted as ideal or overly formal meanings.

[0070] Descriptions of well-known components and processing techniques may be omitted so as not to unnecessarily obscure the embodiments of the disclosure.

[0071] Throughout the specification, the same reference numerals refer to the same elements. Thus, even if a reference numeral is not mentioned or described with reference to one figure, it may be mentioned or described with reference to another figure. Furthermore, even if a reference numeral is not shown in one figure, it may be mentioned or described with reference to another figure.

[0072] In addition, the logic level of the signal may be different or opposite to the described logic level. For example, a signal described as having a logic "high" level may alternatively have a logic "low" level, and a signal described as having a logic "low" level may alternatively have a logic "high" level.

[0073] The following will describe the various embodiments of the present disclosure in detail with reference to the accompanying drawings. However, it will be appreciated by those skilled in the art that in the various embodiments of the present disclosure, many technical details are provided in order to enable the reader to better understand the present disclosure. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present disclosure can be implemented.

[0074] See also Figure 1 , Figure 2 , Figure 1 A structural block diagram of a control device for improving the robustness of an unmanned boat power system provided in an embodiment of the present application. Figure 2 A structural block diagram of a control system of a control device for improving the robustness of an unmanned boat power system provided in an embodiment of the present application. The present invention provides a control device for improving the robustness of an unmanned boat power system, comprising a dual-engine dual-pump power system, a sensor assembly, and a control system, wherein the dual-engine dual-pump power system comprises two independently operated power systems, and the two independently operated power systems comprise a left main engine power system and a right main engine power system; the sensor assembly is used to collect current state information and environmental information of the unmanned boat; the control system is used to switch between a single left main engine power system, a single right main engine power system, and a dual main engine power system according to the current state information and environmental information; the control system is also used to track and control the track of the unmanned boat through a PID control algorithm; the control system is also used to optimize PID control parameters in real time through an artificial fish swarm optimization algorithm to optimize the track tracking control of the unmanned boat.

[0075] Specifically, the left main engine power system and the right main engine power system respectively include a diesel engine, a coupling, a gear box, a hydraulic pump, a shaft system, a water jet propulsion system, and a battery pack. The input end of the diesel engine is connected to the output end of the control system; the input end of the coupling is connected to the output end of the diesel engine; the input end of the gear box is connected to the output end of the coupling; the input ends of the hydraulic pump and the shaft system are both connected to the output end of the gear box; the input end of the water jet propulsion system is connected to the output end of the shaft system; and the output end of the battery pack is connected to the input end of the diesel engine.

[0076] In one embodiment of the present invention, a control device for improving the robustness of the power system of an unmanned boat includes a battery pack, a diesel engine, a coupling, a gear box, a hydraulic pump, a shaft system, and a water jet propulsion device. The two power systems are distributed on the left and right sides of the unmanned boat, and the two power systems are completely independent in terms of structure and control link. Therefore, when the unmanned boat is subjected to an explosion during the execution of special operations, when one power system has a problem, it still has the ability to continue operating, which greatly improves the robustness of the power system of the unmanned boat.

[0077] Specifically, the sensor components include Beidou, inertial navigation, Doppler speed meter, temperature and humidity sensor and host supporting sensor.

[0078] In one embodiment of the present invention, the matching sensors of the present invention can collect various operating condition information such as the rotation speed, speed, heading, cabin temperature, water temperature, oil temperature, alarm information, etc. of the unmanned boat in real time and accurately, which is the key to subsequent analysis and processing.

[0079] In summary, the control device for improving the robustness of the unmanned boat power system of the present invention designs a dual-engine dual-pump power system, that is, two completely independent power systems, which can ensure that the unmanned boat can still operate when one power system fails. The present invention improves the robustness of the unmanned boat power system and enhances its operating capability.

[0080] See also Figure 3 , Figure 3 A flow chart of a control method for improving the robustness of an unmanned boat power system provided in an embodiment of the present application. The present invention provides a control method for improving the robustness of an unmanned boat power system, including the above-mentioned control device for improving the robustness of an unmanned boat power system, and the control method includes:

[0081] Step S1, check the status of the dual-machine dual-pump power system to ensure that the left main engine power system and the right main engine power system are in normal working condition.

[0082] Step S2, checking the status of the sensor component, the control system receives the special operation task issued by the shore-based control console, and the unmanned boat performs the special operation task in a dual-machine dual-pump mode by default, that is, a dual-host power system.

[0083] Step S3, the control system shuts down the left main engine power system or the right main engine power system, and switches the control mode of the unmanned boat to a single-machine single-pump mode. After a set time, the shut-down left main engine power system or the right main engine power system is reopened, and the control system switches the control mode of the unmanned boat to a dual-machine dual-pump mode again.

[0084] Step S4: Tracking and controlling the track of the unmanned boat through a PID control algorithm.

[0085] In one embodiment of the present invention, the PID control algorithm is generally used in various control scenarios. In the present invention, the speed control, heading control and track tracking control of the unmanned boat all need to rely on the PID control algorithm.

[0086] Step S5: When the control mode of the unmanned boat is switched, the control system optimizes the PID control parameters in real time through an artificial fish school optimization algorithm to control the track deviation within an allowable range.

[0087] In one embodiment of the present invention, there are three sets of PID control parameters. When the unmanned boat switches between a single left main engine power system, a single right main engine power system, and a dual main engine power system, the thrust and thrust distribution change greatly. Therefore, it is necessary to debug the control parameters corresponding to the above three situations in advance so that after switching, the unmanned boat can still maintain a good track tracking control effect.

[0088] In one embodiment of the present invention, the traditional PID control algorithm parameters are fixed and cannot adapt to the thrust changes caused by switching between the three power systems and the complex ocean environment. Therefore, it is necessary to introduce an artificial fish school optimization algorithm to adjust the PID control parameters in real time according to actual conditions to achieve better track tracking control effects, thereby better completing special operations tasks.

[0089] Step S6: Repeat the operation of step S3 to optimize the track tracking control of the unmanned boat.

[0090] Specifically, the control system information processing and decision-making unit of the present invention: This module is the core module of the present invention. It determines the working condition of the power system by analyzing the collected alarm information, speed, rotation speed and surrounding environment information, determines which power system to use according to its working condition, and configures the corresponding control parameters.

[0091] In one embodiment of the present invention, a control method for improving the robustness of an unmanned boat power system of the present invention includes:

[0092] 1) Before powering on the control system, check the status of the unmanned boat power system to ensure that both power systems of the unmanned boat are in normal working condition.

[0093] 2) Power on, check the status of all key equipment and sensors, and ensure that all equipment is working properly. The shore-based control console issues special operation tasks, and the unmanned boat starts to perform special operation tasks in the default dual-machine dual-pump mode.

[0094] 3) During the execution of special operation tasks, the control system begins to collect and process power system information in real time. At this time, in order to verify the effectiveness of the strategy proposed by the present invention, the shore-based control console manually shuts down an engine. The control system finds that the speed of an engine is 0, and quickly switches the control mode to a single-machine single-pump mode and configures relevant parameters. After a period of time, the shut-down engine is restarted, and the control system restores the power system to a dual-machine dual-pump mode.

[0095] 4) When the power system mode is switched, a large track deviation will occur. The control system controls the track deviation within the allowable range by reconfiguring the control parameters and the artificial fish school optimization algorithm.

[0096] 5) Repeat step 3) to verify the rapidity and effectiveness of the information processing and decision-making modules and the accuracy of the track tracking control.

[0097] See also Figure 4 , Figure 4 The LOS guidance principle diagram of a control method for improving the robustness of the unmanned boat power system provided in an embodiment of the present application. The tracking control of the unmanned boat track by using the PID control algorithm in step S4 includes: in the geodetic coordinate system, the track point P i The line segment between (i=0,1,2,3...) is the expected track, and the line between any two adjacent points is a straight line. k =[x k ,y k ] T ∈R 2 ,P k+1 =[x k+1 ,y k+1 ] T ∈R 2 The straight line segment between is the current expected track segment. P(t)=[x(t),y(t)] T ∈R 2 is the current position of the unmanned boat, such as Figure 4 As shown, P d (t) = [x d (t),y d (t)] T ∈R 2 is a virtual tracking point. The unmanned boat track tracking controller has the following two control objectives.

[0098] 1) Track the desired trajectory

[0099] The position of the unmanned boat is adjusted in real time so that the position of the unmanned boat gradually converges to the desired track and continues to sail along the desired track. The control target 1 is as follows:

[0100]

[0101] Among them, P m (t) is the direction of P(t) to P k P k+1 The orthographic projection point of .

[0102] 2) Track the desired course

[0103] By adjusting the rudder angle, the heading of the unmanned boat is controlled to always converge to the desired heading. The control target 2 is as follows:

[0104]

[0105] in, is the actual heading of the unmanned boat, and θ(t) is the expected heading.

[0106] Under the action of the heading controller, the unmanned boat adjusts the actual heading of the unmanned boat by adjusting the rudder angle, so that the actual heading approaches the desired heading and finally stabilizes near the desired heading. At the same time, under the action of the thruster, the actual track of the unmanned boat will also converge to the desired track. For heading control, the most frequently used algorithm is the PID control algorithm.

[0107] According to the three parameters K of the traditional PID controller p , K i and K d For the role of the system and the actual heading control requirements of the unmanned boat, the PD type heading controller is designed first:

[0108]

[0109] In formula (3), is the heading deviation. Substituting formula (3) into formula (4), we can get:

[0110]

[0111] In formula (4), T is the followability index, and K is the turning index. According to the closed-loop control system design method, formula (4) can be rewritten as:

[0112]

[0113] In formula (5), ξ is the damping ratio of the system, ω n is the natural oscillation frequency of the unmanned boat, and K p and K i The value of should satisfy the requirements of formula (6).

[0114]

[0115] When the unmanned boat is disturbed by external environment such as wind, waves and currents, an integral term can be added to eliminate the steady-state error, thereby improving the system robustness and track tracking accuracy. Therefore, a PID type heading controller can be designed as shown in formula (7):

[0116]

[0117] K i The value of should satisfy:

[0118]

[0119] Combining formula (6), formula (7) and formula (8), we can get:

[0120]

[0121] Specifically, the real-time optimization of PID control parameters by artificial fish swarm optimization algorithm in step S5 includes: introducing artificial fish swarm optimization algorithm to optimize PID control parameters in real time. The artificial fish swarm optimization algorithm is a search optimization algorithm developed in recent years. Compared with other search optimization algorithms, it has higher search efficiency and a greater probability of finding the optimal solution. It has a wider range of applications in actual life and production.

[0122] 1) Foraging behavior of artificial fish

[0123] The initial position of the artificial fish is X i , the artificial fish randomly selects a state X within its field of view j , then the relationship between the two is:

[0124] X j =X i +Visual*Rand() (10)

[0125] In formula (10), Visual represents the visual area of ​​the artificial fish, and Rand() is a random function. j The objective function value of the position is better than X i , then X i To X j Move one step, and you have:

[0126]

[0127] Otherwise, X i Continue to select new state X within the field of view j , determine whether the forward condition is met. After trying a certain number of times, if it is still not met, perform random behavior. In formula (11), Step represents the moving step length.

[0128] 2) Swarming behavior of artificial fish

[0129] The artificial fish searches for the number and center position of other artificial fish within the current field of view, and the center position of its neighborhood is X c , if the center of the neighborhood is not crowded and the objective function value is better, then the artificial fish moves one step toward the center, as shown in the following formula:

[0130]

[0131] 3) Artificial fish tail-chasing behavior

[0132] Artificial FishX i Search for the artificial fish X with the best objective function among the fish in the current field of view k , if artificial fish Xk The surrounding area is not too crowded, then the artificial fish X i Towards X k The direction moves one step to realize the tail-chasing behavior of the artificial fish, as shown in the following formula:

[0133]

[0134] See also Figure 5 , Figure 6 , Figure 5 A block diagram of an artificial fish swarm optimization algorithm for a control method for improving the robustness of an unmanned boat power system provided in an embodiment of the present application. Figure 6 The unmanned boat track tracking control effect diagram of a control method for improving the robustness of the unmanned boat power system provided in the embodiment of the present application. The artificial fish school optimization algorithm is introduced to adjust the PID controller parameters in real time to meet the real-time change of the unmanned boat track and improve the robustness of the system, thereby improving the track tracking control accuracy. The specific process is as follows Figure 5 The track tracking control process of the unmanned boat with improved PID control is as follows:

[0135] 1) For the track tracking control problem of the unmanned boat, initialize the parameter values ​​of the PID controller.

[0136] 2) Initialize the parameters of the artificial fish swarm optimization algorithm.

[0137] 3) According to the food depth of all artificial fish’s initial positions, select the best position to enter the bulletin board.

[0138] 4) All artificial fish forage, group and chase according to the rules within their respective fields of vision and update their positions.

[0139] 5) Select the best position again and compare it with the position on the billboard. If it is better than the position on the billboard, replace it.

[0140] 6) Repeat steps 4) and 5) and stop executing after reaching the maximum number of iterations to obtain the optimal position.

[0141] 7) Calculate PID parameters based on the optimal position and pass them to the PID controller.

[0142] The designed track tracking controller was deployed to the unmanned boat and experimental verification was carried out. The experimental results are as follows Figure 6 As shown in the figure, the experimental results show that the designed track tracking controller has a good track tracking control effect no matter in the dual-machine dual-pump mode or the single-machine single-pump mode.

[0143] The present invention also proposes an electronic device, which includes a processor and a memory, wherein the memory stores program instructions, and the processor runs the program instructions to implement the above-mentioned control method for improving the robustness of the unmanned boat power system. The processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components; the memory may include a random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The memory can also be an internal memory of the random access memory (RAM) type, and the processor and memory can be integrated into one or more independent circuits or hardware, such as an application-specific integrated circuit (ASIC). It should be noted that the computer program in the above-mentioned memory can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, an electronic device, or a network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention.

[0144] The present invention also proposes a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the above-mentioned control method for improving the robustness of the unmanned boat power system. The computer-readable storage medium can be an electronic medium, a magnetic medium, an optical medium, an electromagnetic medium, an infrared medium or a semiconductor system or a propagation medium. The computer-readable storage medium can also include a semiconductor or solid-state memory, a magnetic tape, a removable computer disk, a random access memory (RAM), a read-only memory (ROM), a hard disk and an optical disk. The optical disk can include a compact disk-read only memory (CD-ROM), a compact disk-read / write (CD-RW) and a DVD.

[0145] In summary, the control method for improving the robustness of the unmanned boat power system of the present invention debugs three sets of control parameters respectively to adapt to the left main engine power system, the right main engine power system and the special operation of the dual-engine dual-pump mode, which greatly improves the robustness of the basic control of the unmanned boat and the ability of special operations.

[0146] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A control device for improving the robustness of an unmanned boat power system, characterized in that: include: The dual-engine dual-pump power system includes two sets of independently operated power systems, including a left main engine power system and a right main engine power system; A sensor component, used to collect current status information and environmental information of the unmanned boat; A control system, for switching between a single left main engine power system, a single right main engine power system, and a dual main engine power system according to the current state information and environmental information; The control system is also used to track and control the track of the unmanned boat through a PID control algorithm; The control system is also used to optimize PID control parameters in real time through an artificial fish school optimization algorithm to optimize the track tracking control of the unmanned boat.

2. A control device for improving the robustness of an unmanned boat power system according to claim 1, characterized in that: The left main engine power system and the right main engine power system respectively include: A diesel engine, whose input end is connected to the output end of the control system; A coupling, the input end of which is connected to the output end of the diesel engine; a gear box, the input end of which is connected to the output end of the coupling; A hydraulic pump and a shaft system, the input ends of which are connected to the output end of the gear box; a water jet propulsion device, the input end of which is connected to the output end of the shaft system; The output end of the battery pack is connected to the input end of the diesel engine.

3. The control device for improving the robustness of the unmanned boat power system according to claim 1, characterized in that: The left main engine power system and the right main engine power system are distributed on the left and right sides of the unmanned boat, and are completely independent in structure and control link.

4. A control device for improving the robustness of an unmanned boat power system according to claim 2, characterized in that: The sensor components include Beidou, inertial navigation, Doppler speed meter, temperature and humidity sensor and host supporting sensors.

5. A control method for improving the robustness of an unmanned boat power system, characterized in that: The control device for improving the robustness of the unmanned boat power system according to any one of claims 1 to 4, wherein the control method comprises: S1. Check the status of the dual-machine dual-pump power system to ensure that the left main engine power system and the right main engine power system are in normal working condition; S2, checking the status of the sensor assembly, the control system receiving the special operation task issued by the shore-based control console, and the unmanned boat performs the special operation task in a dual-machine dual-pump mode by default, that is, a dual-host power system; S3, the control system shuts down the left main engine power system or the right main engine power system, and switches the control mode of the unmanned boat to a single-machine single-pump mode. After a set time, the shut-down left main engine power system or the right main engine power system is reopened, and the control system switches the control mode of the unmanned boat to a dual-machine dual-pump mode again; S4, tracking and controlling the track of the unmanned boat through PID control algorithm; S5. When the control mode of the unmanned boat is switched, the control system optimizes the PID control parameters in real time through an artificial fish school optimization algorithm to control the track deviation within an allowable range; S6. Repeat step S3 to optimize the track tracking control of the unmanned boat.

6. A control method for improving the robustness of an unmanned boat power system according to claim 5, characterized in that: The tracking control of the unmanned boat by the PID control algorithm in step S4 includes: in the geodetic coordinate system, the track point P i The line segment between (i=0,1,2,3...) is the expected track, and the line between any two adjacent points is a straight line, where P k =[x k ,y k ] T ∈R 2 ,P k+1 =[x k+1 ,y k+1 ] T ∈R 2 The straight line segment between is the current expected track segment, P(t) = [x(t), y(t)] T ∈R 2 is the current position of the unmanned boat, P d (t) = [x d (t),y d (t)] T ∈R 2 is a virtual tracking point, and the track tracking control of the unmanned boat includes tracking the expected track and tracking the expected heading.

7. A control method for improving the robustness of an unmanned boat power system according to claim 6, characterized in that: The tracking of the expected track includes: The position of the unmanned boat is adjusted in real time so that the position of the unmanned boat gradually converges to the desired track and continues to sail along the desired track. The control target is as follows: Among them, P m (t) is the direction of P(t) to P k P k+1 The orthographic projection point of .

8. A control method for improving the robustness of an unmanned boat power system according to claim 6, characterized in that: The tracking desired heading includes: By adjusting the rudder angle, the heading of the unmanned boat is controlled to always converge to the desired heading, and the control target is the following formula: in, is the actual heading of the unmanned boat, and θ(t) is the expected heading.

9. A control method for improving the robustness of an unmanned boat power system according to claim 5, characterized in that: The real-time optimization of PID control parameters by artificial fish swarm optimization algorithm in step S5 includes: S51. Foraging behavior of artificial fish The initial position of the artificial fish is X i , the artificial fish randomly selects a state X within its field of view j , the relationship between the two is: X j =X i +Visual*Rand(), Among them, Visual is the visual area of ​​the artificial fish, Rand() is a random function, if X j The objective function value of the position is better than X i , then X i To X j Move one step, that is: Otherwise, X i Continue to select new state X within the field of view j , determine whether the forward condition is met. After trying a certain number of times, if it is still not met, perform random behavior, where Step represents the moving step length; S52. Swarming behavior of artificial fish The artificial fish searches for the number and center position of other artificial fish within the current field of view, and the center position of its neighborhood is X c , if the center of the neighborhood is not crowded and the objective function value is better, the artificial fish moves one step toward the center, as shown in the following formula: S53. Tail-chasing behavior of artificial fish Artificial FishX i Search for the artificial fish X with the best objective function among the fish in the current field of view k , if artificial fish X k The surrounding area is not crowded, so the artificial fish X i Towards X k The direction moves one step to realize the tail-chasing behavior of the artificial fish, as shown in the following formula:

10. An electronic device, comprising a processor and a memory, wherein the memory stores program instructions, characterized in that: The processor runs program instructions to implement the control method for improving the robustness of the unmanned boat power system as described in any one of claims 5 to 9.

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