Auto-disturbance rejection control method, system and equipment for attitude of underwater vehicle and medium

Abstract

The invention relates to the technical field of underwater vehicle control, in particular to an underwater vehicle attitude active-disturbance-rejection control method, system and equipment and a medium, which can construct a dynamic model, enable linear active-disturbance-rejection to be suitable for underwater vehicle attitude control and enable the active-disturbance-rejection control method to be more suitable for the engineering field. According to the method, the linear active-disturbance-rejection control theory developed on the basis of nonlinear active-disturbance-rejection control is adopted, the control system parameters are reduced to two, namely the controller bandwidth and the extended state observer bandwidth, the complexity of the control system is reduced, the number of the control parameters is reduced, engineering implementation is facilitated, a good control effect is achieved, and the method is suitable for large-scale popularization and application. The method is more suitable for the field of aircraft control system engineering application, and the design problem of an underwater aircraft attitude control system is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater vehicle control, and in particular to an underwater vehicle attitude self-disturbance control method, system, equipment and medium. Background Art

[0002] Attitude control is the core link of underwater vehicle movement and is related to the stability of vehicle movement. An attitude control system with a certain control accuracy is a prerequisite for underwater vehicles to complete their tasks. Due to the complexity of the vehicle's operating environment, waves and currents cause nonlinear changes in fluid parameters, and the six-degree-of-freedom dynamic model of the vehicle has strong nonlinear and mutual coupling characteristics, which puts higher requirements on the design of attitude control systems. The traditional control method developed based on PID linearizes the nonlinear dynamic model of the vehicle and then ignores the coupling terms between the channels. This simplification has become increasingly unable to meet the design requirements of the vehicle.

[0003] After the ADRC technology was proposed, it has been favored by many scholars and has broad application prospects in the fields of aerospace and navigation. For nonlinear ADRC technology, there are many parameters to be adjusted, and there is no fixed method for determining parameters. Therefore, it is very difficult to adjust the parameters, which can only be determined by engineering experience and simulation. Summary of the invention

[0004] In view of this, the present invention provides an underwater vehicle attitude self-disturbance rejection control method, system, equipment and medium, which can construct a dynamic model, make linear self-disturbance rejection suitable for underwater vehicle attitude control, and make the self-disturbance rejection control method more suitable for the engineering field.

[0005] To achieve the above object, the present invention provides an underwater vehicle attitude auto-disturbance rejection control method, which inputs a pitch angle, a heading angle and a roll angle, brings the pitch angle, the heading angle and the roll angle into an auto-disturbance rejection controller and performs decoupling processing; solves and outputs command signals of the pitch rudder deflection angle, the heading rudder deflection angle and the roll rudder deflection angle, and realizes three-channel decoupling control of the underwater vehicle;

[0006] The command signal y c The output y of the controlled object is used as the input signal of the linear active disturbance rejection controller to estimate the state quantities z1, z2 and the total disturbance z3 of the controlled object, and obtain the control quantity u. The control quantity provides an input signal for the controlled object to obtain the output signal y.

[0007] The steps include:

[0008] Based on the momentum theorem, the rotation equation of the underwater vehicle around the center of mass is established in the body coordinate system;

[0009] Obtaining a conversion relationship between the underwater vehicle attitude angle and the angular velocity; converting and obtaining a conversion relationship between the angular acceleration and the attitude angle according to the conversion relationship between the underwater vehicle attitude angle and the angular velocity;

[0010] Aiming at the multi-input problem of a single channel of the attitude control loop, the virtual control quantity is introduced by combining the rotation equation of the underwater vehicle around the center of mass and the conversion relationship between angular acceleration and attitude angle; the input-output relationship of the attitude control loop of the underwater vehicle is obtained;

[0011] A third-order extended transition observer is designed to estimate the state quantities in the input-output relationship of the underwater vehicle attitude control loop; an anti-disturbance control law suitable for the underwater vehicle attitude control loop is established; and the parameters of the third-order extended transition observer and the controller are determined.

[0012] Among them, the nonlinear dynamic model of the underwater vehicle rotating around the center of mass is:

[0013]

[0014] In the formula, ω x ,ω y ,ω z is the angular velocity; ψ, θ are roll angle, yaw angle and pitch angle respectively; J xx , J yy , J zz is the moment of inertia; 44 ,λ 55 ,λ 66 is the additional moment of inertia; v x , v y , v z is the velocity of the system; ρ is the density of the fluid medium; α, β are the angle of attack and sideslip angle respectively; S, L are the maximum cross-sectional area and length of the vehicle respectively; x c ,y c , z c is the component of the center of mass coordinate in the system; m, G are the mass and gravity of the spacecraft respectively; δ d , δ e , δ r They are the rudder angles of the roll channel, yaw channel and pitch channel respectively.

[0015] The components of the angular velocity of the vehicle around the center of buoyancy in the body coordinate system are ω x ,ω y ,ω z , and its Euler angle transformation rate is The conversion relationship between the underwater vehicle attitude angle and angular velocity is obtained as follows:

[0016]

[0017] After conversion, the conversion relationship between angular acceleration and attitude angle is:

[0018]

[0019] The rotation equation of the underwater vehicle around the center of mass and the conversion relationship between angular acceleration and attitude angle are obtained:

[0020]

[0021] Convert to:

[0022]

[0023] In the formula,

[0024]

[0025] To solve the problem of multiple inputs in a single channel of attitude control loop, combined with Introducing virtual control volume:

[0026] U=Bδ

[0027] In the formula, Then the input-output relationship of the underwater vehicle attitude control loop is obtained as follows:

[0028]

[0029] In the formula, x1 is the state quantity of the attitude control outer loop of each channel, F1 is the total disturbance of the attitude control outer loop, where

[0030]

[0031] Among them, the active disturbance rejection control law applicable to the attitude control loop of the underwater vehicle is:

[0032]

[0033] In the formula, the subscripts i=1, 2, and 3 represent the pitch and roll channels respectively, and r i is the target value of each control channel, The estimated value of z is 1. 1i 、z 2i 、z 3i is the estimated value of the system; the parameters of the third-order extended transition observer and controller are:

[0034] β 01i =3ω 0i ,β 02i =3ω 0i 2 ,β 03i =ω 0i 3 ,k pi=ω ci 2 ,k di =2ω ci

[0035] Among them, ω 0i and ω ci are the attitude angle control loop observer bandwidth and controller bandwidth respectively.

[0036] Among them, the anti-disturbance control law applicable to the attitude control loop of the underwater vehicle is converted into the form of a difference equation.

[0037] Among them, the parameters of the third-order extended transition observer and the controller are determined through digital simulation.

[0038] The present invention also provides an underwater vehicle attitude self-disturbance rejection control system, comprising a digital simulation module, a control instruction solving module, a navigation module, an actuator and a storage module;

[0039] Among them, the digital simulation module performs digital simulation of the underwater vehicle based on the attitude control principle of ADRC, determines the appropriate control parameters, and passes the control parameters to the control instruction solution module;

[0040] The navigation module provides the pitch angle, heading angle and roll angle information of the aircraft;

[0041] The control instruction solution module integrates the information of the navigation module and the digital simulation module, solves the control instruction, that is, the rudder angle, and transmits the control instruction to the actuator to control the vehicle's attitude; the actuator moves to the corresponding angle according to the control instruction; the storage module is used to record the vehicle's attitude, speed, third-order expanded transition observer parameter estimation and rudder angle for data analysis.

[0042] The present invention also provides an electronic device, which includes a processor and a memory for storing executable instructions of the processor; the processor is used to read the executable instructions from the memory and execute the instructions to implement an underwater vehicle attitude self-disturbance control method described in the present invention.

[0043] The present invention also provides a computer-readable storage medium, characterized in that the storage medium stores a computer program, and the computer program is used to execute the underwater vehicle attitude self-disturbance control method described in the present invention.

[0044] Beneficial effects:

[0045] 1. In the method of the present invention, the linear active disturbance rejection control theory developed on the basis of nonlinear active disturbance rejection control is adopted to reduce the control system parameters to two, namely, the controller bandwidth and the extended state observer bandwidth, thereby reducing the complexity of the control system and the number of control parameters, which is conducive to engineering implementation and has good control effect. It is more suitable for the engineering application field of vehicle control systems and solves the design problem of underwater vehicle attitude control systems.

[0046] 2. In the method of the present invention, a dynamic model is constructed to make the linear anti-disturbance control method suitable for the attitude control of underwater vehicles, so as to solve the problems of complex structure, large number of parameters and difficulty in setting based on the nonlinear anti-disturbance control method, and make the anti-disturbance control method more suitable for the engineering field.

[0047] 3. The method of the present invention has a simple structure and few control parameters, which can solve the problem of mutual coupling between the various channels of the underwater vehicle and is more suitable for practical engineering applications.

[0048] 4. The device of the present invention is used to implement the method of the present invention. It adopts the linear autonomous disturbance rejection control theory developed on the basis of nonlinear autonomous disturbance rejection control, and reduces the control system parameters to two, namely, the controller bandwidth and the extended state observer bandwidth, thereby reducing the complexity of the control system and the number of control parameters, which is conducive to engineering implementation and has good control effects. It is more suitable for the engineering application field of vehicle control systems and solves the design problems of underwater vehicle attitude control systems.

[0049] 5. The medium of the present invention is used to implement the method of the present invention, which adopts the linear active disturbance rejection control theory developed on the basis of nonlinear active disturbance rejection control, and reduces the control system parameters to two, namely, the controller bandwidth and the extended state observer bandwidth, thereby reducing the complexity of the control system and the number of control parameters, which is conducive to engineering implementation and has good control effects. It is more suitable for the engineering application field of vehicle control systems and solves the design problems of underwater vehicle attitude control systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a schematic diagram of the three-channel attitude decoupling control structure in the present invention.

[0051] Figure 2 This is a schematic diagram of the posture control principle based on ADRC in the present invention.

[0052] Figure 3 It is a schematic diagram of the underwater vehicle anti-disturbance control system of the present invention.

[0053] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0054] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0055] In the practical application of the method of the present invention, the input information required for the three-channel attitude control includes: pitch angle, heading angle, and roll angle. These information are brought into the anti-disturbance controller and decoupled. Finally, the command signals of the pitch rudder deflection angle, the heading rudder deflection angle, and the roll rudder deflection angle are solved and output to realize the three-channel decoupling control of the underwater vehicle. Figure 1 The schematic diagram of the three-channel attitude decoupling control structure in the present invention is as follows: c The output y of the controlled object is used as the input signal of the linear active disturbance rejection controller, thereby estimating the state quantities z1, z2 and the total disturbance z3 of the controlled object, and obtaining the control quantity u. The control quantity provides an input signal for the controlled object, thereby obtaining the output signal y. The implementation steps of the method of the present invention are as follows:

[0056] Based on the momentum theorem, the rotation equation of the underwater vehicle around the center of mass is established in the body coordinate system. The nonlinear dynamic model of the underwater vehicle rotating around the center of mass is:

[0057]

[0058] In the formula, ω x ,ω y ,ω z is the angular velocity; ψ, θ are roll angle, yaw angle and pitch angle respectively; J xx , J yy , J zz is the moment of inertia; 44 ,λ 55 ,λ 66 is the additional moment of inertia; v x , v y , v z is the velocity of the system; ρ is the density of the fluid medium; α, β are the angle of attack and sideslip angle respectively; S, L are the maximum cross-sectional area and length of the vehicle respectively; x c ,y c , z c is the component of the center of mass coordinate in the system; m, G are the mass and gravity of the spacecraft respectively; δ d , δ e , δ r They are the rudder angles of the roll channel, yaw channel and pitch channel respectively.

[0059] The components of the angular velocity of the vehicle around the center of buoyancy in the body coordinate system are ω x ,ω y ,ω z , and its Euler angle transformation rate is The conversion relationship between the underwater vehicle attitude angle and angular velocity can be obtained as follows:

[0060]

[0061] After conversion, the conversion relationship between angular acceleration and attitude angle is:

[0062]

[0063] From equations (1) and (3), we can get

[0064] Formula (4) can be converted into:

[0065]

[0066] In the formula,

[0067]

[0068] In order to solve the multi-input problem of a single channel of the attitude control loop, a virtual control variable is introduced in combination with equation (5):

[0069] U=Bδ6) where From equations (4) and (5), the input-output relationship of the attitude control loop of the underwater vehicle is:

[0070]

[0071] Where x1 is the state quantity of the attitude control outer loop of each channel, and F1 is the total disturbance of the attitude control outer loop.

[0072]

[0073] From formula (7), we can see that the controlled object of each control channel of the outer loop is a second-order system, and a third-order extended state observer (ESO) is designed to estimate its state quantity. Therefore, the active disturbance rejection control law applicable to the attitude control loop of the underwater vehicle is:

[0074]

[0075] In the formula, the subscripts i=1, 2, and 3 represent the pitch and roll channels respectively, and r i is the target value of each control channel, The estimated value of z is 1. 1i 、z 2i 、z 3i is the estimated value of the system. The ESO and controller parameters are:

[0076] β 01i =3ω 0i ,β 02i =3ω 0i 2 ,β 03i=ω 0i 3 ,k pi =ω ci 2 ,k di =2ω ci

[0077] Among them, ω 0i and ω ci are the attitude angle control loop observer bandwidth and controller bandwidth respectively.

[0078] The establishment of the above mathematical model is the theoretical derivation of the underwater vehicle's anti-disturbance control method, and the ESO parameters and controller parameters can be determined by digital simulation. In practical engineering applications, equation (9) needs to be converted into a differential equation form, as shown in equation (10).

[0079]

[0080] In the formula, k represents the state at the current moment, k+1 represents the state at the next moment, and h is the operation step size.

[0081] The present invention also provides an underwater vehicle attitude self-disturbance rejection control system, which is established based on equation (9). The system structure diagram of the present invention is as follows: Figure 3 As shown, it includes a digital simulation module, a control instruction solving module, a navigation module, an actuator and a storage module.

[0082] Among them, the digital simulation module uses Figure 2 The ADRC-based attitude control principle shown in the figure is used to digitally simulate the underwater vehicle, determine the appropriate control parameters, and pass the control parameters to the control instruction solution module; the coupling amount of the pitch channel, yaw channel and roll channel of the underwater vehicle is taken as the total disturbance, the total disturbance is estimated by the expanded state observer, and introduced into the feedback controller for compensation, so that the original nonlinear system is transformed into a linear system, and the decoupling between the channels is completed; in order to solve the multi-input problem of a single channel of the attitude control loop, a virtual control amount is introduced for decoupling, and the numerical simulation of the vehicle can be completed, and the ES0 parameters and controller parameters can be determined. The digital simulation module is only used to determine the control parameters, does not participate in the actual navigation of the vehicle, and can be run on an ordinary computer.

[0083] The navigation module provides the pitch angle, heading angle and roll angle information of the aircraft, which provides y for the algorithm of formula (10) i This module is installed inside the aircraft and measures the aircraft's attitude, speed and other information in real time.

[0084] The control instruction solving module runs the algorithm of formula (10), and integrates the information of the navigation module and the digital simulation module to solve the control instruction, that is, the rudder angle, and transmits the control instruction to the actuator to control the vehicle attitude. In this embodiment, the actuator is the rudder, which moves to the corresponding angle according to the control instruction. The storage module is used to record the vehicle attitude, speed, ESO estimation, rudder angle and other information for data analysis.

[0085] The embodiment of the present application also provides an electronic device, Figure 4 The structure of the electronic device provided by the embodiment of the present invention is shown. For example, the electronic device 40 may include a processor 41, a memory 42 and a transmission device 43. The processor is used to execute the underwater vehicle attitude self-disturbance rejection control method mentioned in the above embodiment, wherein the processor and the memory may be connected by a bus or other means, taking the bus connection as an example. The transmission device may be connected to the processor and the memory by wire or wirelessly. The memory, as a non-transient computer-readable storage medium, may be used to store non-transient software programs, non-transient computer executable programs and modules, such as the program instructions / modules corresponding to the underwater vehicle attitude self-disturbance rejection control method in the embodiment of the present application. The processor executes various functional applications and data processing of the processor by running the non-transient software programs, instructions and modules stored in the memory, that is, the underwater vehicle attitude self-disturbance rejection control method in the above method embodiment is realized. The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required by at least one function; the data storage area may store data created by the processor, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The one or more modules are stored in the memory, and when executed by the processor, the underwater vehicle attitude self-disturbance rejection control method in the embodiment is executed.

[0086] As another aspect, the present application also 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 may be a tangible storage medium, such as a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a floppy disk, a hard disk, a removable storage disk, a CD ROM, or any other form of storage medium known in the technical field. The computer-readable storage medium stores one or more programs, and the programs are used by one or more processors to execute the underwater vehicle attitude self-disturbance rejection control method described in the present application.

[0087] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An underwater vehicle attitude self-disturbance rejection control method, characterized in that: Input the pitch angle, heading angle and roll angle, bring the pitch angle, heading angle and roll angle into the anti-disturbance controller and perform decoupling processing; solve and output the command signals of the pitch rudder deflection angle, heading rudder deflection angle and roll rudder deflection angle to realize the three-channel decoupling control of the underwater vehicle; The command signal y c The output y of the controlled object is used as the input signal of the linear active disturbance rejection controller to estimate the state quantities z1, z2 and the total disturbance z3 of the controlled object, and obtain the control quantity u. The control quantity provides an input signal for the controlled object to obtain the output signal y.

2. The method according to claim 1, characterized in that The steps include: Based on the momentum theorem, the rotation equation of the underwater vehicle around the center of mass is established in the body coordinate system; Obtaining a conversion relationship between the underwater vehicle attitude angle and the angular velocity; converting and obtaining a conversion relationship between the angular acceleration and the attitude angle according to the conversion relationship between the underwater vehicle attitude angle and the angular velocity; Aiming at the multi-input problem of a single channel of the attitude control loop, the virtual control quantity is introduced by combining the rotation equation of the underwater vehicle around the center of mass and the conversion relationship between angular acceleration and attitude angle; the input-output relationship of the attitude control loop of the underwater vehicle is obtained; A third-order extended transition observer is designed to estimate the state quantities in the input-output relationship of the underwater vehicle attitude control loop; an anti-disturbance control law suitable for the underwater vehicle attitude control loop is established; and the parameters of the third-order extended transition observer and the controller are determined.

3. The method according to claim 2, characterized in that ,The nonlinear dynamic model of the underwater vehicle rotating around the center of mass is: In the formula, ω x ,ω y ,ω z is the angular velocity; ψ, θ are roll angle, yaw angle and pitch angle respectively; J xx , J yy , J zz is the moment of inertia; 44 ,λ 55 ,λ 66 is the additional moment of inertia; v x , v y , v z is the velocity of the system; ρ is the density of the fluid medium; α, β are the angle of attack and sideslip angle respectively; S, L are the maximum cross-sectional area and length of the vehicle respectively; x c ,y c , z c is the component of the center of mass coordinate in the system; m, G are the mass and gravity of the spacecraft respectively; δ d , δ e , δ r are the rudder deflection angles of the roll channel, yaw channel and pitch channel respectively. The components of the angular velocity of the vehicle around the center of buoyancy in the body coordinate system are ω x ,ω y ,ω z , and its Euler angle transformation rate is The conversion relationship between the underwater vehicle attitude angle and angular velocity is obtained as follows: After conversion, the conversion relationship between angular acceleration and attitude angle is: The rotation equation of the underwater vehicle around the center of mass and the conversion relationship between angular acceleration and attitude angle are obtained: Convert to: In the formula, To solve the problem of multiple inputs in a single channel of attitude control loop, combined with Introducing virtual control volume: U=Bδ In the formula, Then the input-output relationship of the underwater vehicle attitude control loop is obtained as follows: In the formula, x1 is the state quantity of the attitude control outer loop of each channel, F1 is the total disturbance of the attitude control outer loop, where 4. The method according to claim 3, characterized in that ,The anti-disturbance control law applicable to the attitude control loop of underwater vehicles is: In the formula, the subscripts i=1, 2, and 3 represent the pitch and roll channels respectively, and r i is the target value of each control channel, The estimated value of z is 1. 1i 、z 2i 、z 3i is the estimated value of the system; the parameters of the third-order extended transition observer and controller are: b 01i =3h 0i ,b 02i =3h 0i 2 ,b 03i =ω 0i 3 ,k pi =ω ci 2 ,k di =2h ci Among them, ω 0i and ω ci are the attitude angle control loop observer bandwidth and controller bandwidth respectively.

5. The method according to claim 4, characterized in that The active disturbance rejection control law applicable to the attitude control loop of underwater vehicles is converted into a difference equation form.

6. The method according to any one of claims 2 to 5, characterized in that: The parameters of the third-order extended transition observer and controller are determined through digital simulation.

7. An underwater vehicle attitude anti-disturbance control system, characterized in that: It includes a digital simulation module, a control instruction solving module, a navigation module, an actuator and a storage module; Among them, the digital simulation module performs digital simulation of the underwater vehicle based on the attitude control principle of ADRC, determines the appropriate control parameters, and passes the control parameters to the control instruction solution module; The navigation module provides the pitch angle, heading angle and roll angle information of the aircraft; The control instruction solution module integrates the information of the navigation module and the digital simulation module, solves the control instruction, that is, the rudder angle, and transmits the control instruction to the actuator to control the vehicle's attitude; the actuator moves to the corresponding angle according to the control instruction; the storage module is used to record the vehicle's attitude, speed, third-order expanded transition observer parameter estimation and rudder angle for data analysis.

8. An electronic device, characterized in that: The electronic device includes a processor and a memory for storing executable instructions of the processor; the processor is used to read the executable instructions from the memory and execute the instructions to implement an underwater vehicle attitude self-disturbance control method as described in any one of claims 1-6 above.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the underwater vehicle attitude self-disturbance rejection control method described in any one of claims 1-6 above.

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