Unmanned ship circular motion control method, system, medium and equipment

Abstract

The invention provides an unmanned ship circular motion control method and system, a medium and equipment, and the method comprises the steps: 1, setting a circular route, and determining a circle center, a radius and a motion direction; 2, the target course of the current position serves as the direction of a vector # imgabs0 #, C is the current position of the unmanned ship, S is the target point of the unmanned ship, the speed v is set, movement is conducted according to the target course, and then linear guidance is conducted according to the LOS guidance law; step 3, establishing a model of the USV horizontal control motion on the still water surface; and step 4, setting a controller USV yaw angle in the model to obtain a rotation torque output by the model, and further realizing sailing of the unmanned ship along a circumferential path. The method is not only suitable for unmanned ships, but also suitable for unmanned vehicles, unmanned aerial vehicles and the like; by means of eliminating accumulated errors and increasing feed-forward terms, the track error between actual circular motion and a standard circle can be reduced, and the circular track can be accurately controlled.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned ship control, and in particular to an unmanned ship circular motion control method, system, medium and equipment. Background Art

[0002] With the rapid development of the information and intelligent era, unmanned ships, as a cutting-edge marine transportation tool, have shown great application potential in many fields, including oil exploration, ocean mapping and ocean monitoring. However, limited by the current technology and design level, unmanned ships often show under-actuated characteristics, that is, their control input is less than the dimension of the system state. This characteristic requires unmanned ships to rely on advanced control algorithms to ensure stable operation and precise autonomous navigation during navigation. In the field of unmanned ship motion control, this problem can be divided into three categories: stabilization control, trajectory tracking control and path tracking control. It is worth mentioning that when a ship is sailing on the water, it does not emphasize arriving at a designated location at a specific time, but focuses on sailing along a predetermined route. Therefore, it is particularly important to design a path tracking control system with high reliability and accuracy.

[0003] Generally speaking, the path tracking of unmanned ships is divided into two modules: guidance and control. Line of Sight (LOS) is widely used in the design of the guidance subsystem due to its simplicity. However, the line of sight guidance law is usually only applicable to linear guidance, and special design is required for circular motion guidance. Summary of the invention

[0004] In view of the defects in the prior art, the object of the present invention is to provide a method, system, medium and equipment for controlling the circular motion of an unmanned ship.

[0005] The unmanned ship circular motion control method provided by the present invention comprises:

[0006] Step 1: Set the circular route and determine the center, radius and direction of movement;

[0007] Step 2: Use the target heading at the current position as a vector direction, C is the current position of the unmanned ship, S is the target point of the unmanned ship, set the speed v, move in the target heading, and then perform linear guidance according to the LOS guidance law;

[0008] Step 3: Establish a model for the horizontal maneuvering motion of USV on a still water surface;

[0009] Step 4: Set the controller USV yaw angle in the model to obtain the torque output by the model, thereby enabling the unmanned ship to navigate along a circular path.

[0010] Preferably, step 1 includes: assuming that the current position of the unmanned ship is C, if the current unmanned ship is outside the set circle and the distance between the current position and the circumference is d, then a tangent is made from the current position to the circumference to obtain a tangent point S, and the target point of the unmanned ship is set as the tangent point S; if the current unmanned ship is inside the set circle and the distance between the current position and the circumference is d, then an equidistant mapping point is taken from the current position to the outside of the circle, and a tangent is made from the mapping point outside the circle to the circumference to obtain a tangent point S, and the target point of the unmanned ship is set as the tangent point S.

[0011] Preferably, the step 2 comprises:

[0012] Assume the target path is C0S, the current position of the unmanned ship is C, set the foresight distance L, and draw a circle with the foresight distance L as the radius to intersect with C0S, and take the intersection as the target point P LOS , then:

[0013]

[0014] In the formula, C0 is the target position, x LOS ,y LOS P LOS The coordinate value of point C; x, y are the coordinate values ​​of point C; is the heading angle of the unmanned ship, which is used as the setting value of the heading angle;

[0015] According to the stable control analysis, there is a cumulative deviation in the stable state, so it is necessary to add a control item based on the cumulative deviation. Since the circular motion has a heading tendency, an initial feedforward item is added. The feedforward item is related to the circular track radius R and the speed v of the unmanned ship. The output control quantity is as follows:

[0016]

[0017] Among them, φ d is the final heading angle setting value control quantity, p I is the control coefficient of the deviation d, k is the control coefficient of the feedforward term, p I and k are adjustable constants.

[0018] Preferably, the step 3 comprises:

[0019] Decouple the system and establish the controller, set the longitudinal speed unchanged, and only design the controller for the steering control, then:

[0020]

[0021] Where: m is the mass of the boat itself, m x 、m y are the additional masses along the x-axis and y-axis respectively, I zz , J zzis the moment of inertia around the z-axis, X, Y, and N are the forces along the x-axis and y-axis directions and the torque around the z-axis in the hull coordinate system, respectively. H and P represent the forces and torques provided by the hull itself and the propeller, respectively. u, v, and r are the velocity components of the hull, corresponding to the angular velocities of rotation along the x-axis, y-axis, and z-axis, respectively. is the time derivative of the velocity component;

[0022] The PID control expression is as follows:

[0023] Δu(k)=u(k)-u(k-1)

[0024] =K P [e(k)-e(k-1)]+K I e(k)+K D [e(k)-2e(k-1)+e(k-2)]

[0025] Where, u(k) is the control quantity output by the controller. For heading control, u(k) is the main engine speed. For speed control, u(k) is the steering gear angle. K p is the proportional gain; K I is the integral coefficient; K D is the differential coefficient; e(k) is the deviation.

[0026] The unmanned ship circular motion control system provided by the present invention comprises:

[0027] Module M1: Set the circular route, determine the center, radius and direction of movement;

[0028] Module M2: Take the target heading at the current position as a vector direction, C is the current position of the unmanned ship, S is the target point of the unmanned ship, set the speed v, move in the target heading, and then perform linear guidance according to the LOS guidance law;

[0029] Module M3: Modeling the horizontal maneuvering motion of USV on still water surface;

[0030] Module M4: Set the controller USV yaw angle in the model to obtain the torque output by the model, thereby enabling the unmanned ship to navigate along a circular path.

[0031] Preferably, the module M1 includes: assuming that the current position of the unmanned ship is C, if the current unmanned ship is outside the set circle and the distance between the current position and the circumference is d, then a tangent is made from the current position to the circumference to obtain the tangent point S, and the target point of the unmanned ship is set as the tangent point S; if the current unmanned ship is inside the set circle and the distance between the current position and the circumference is d, then an equidistant mapping point is taken from the current position to the outside of the circle, and a tangent is made from the mapping point outside the circle to the circumference to obtain the tangent point S, and the target point of the unmanned ship is set as the tangent point S.

[0032] Preferably, the module M2 comprises:

[0033] Assume the target path is C0S, the current position of the unmanned ship is C, set the foresight distance L, and draw a circle with the foresight distance L as the radius to intersect with C0S, and take the intersection as the target point P LOS , then:

[0034]

[0035] In the formula, C0 is the target position, x LOS ,y LOS P LOS The coordinate value of point C; x, y are the coordinate values ​​of point C; is the heading angle of the unmanned ship, which is used as the setting value of the heading angle;

[0036] According to the stable control analysis, there is a cumulative deviation in the stable state, so it is necessary to add a control item based on the cumulative deviation. Since the circular motion has a heading tendency, an initial feedforward item is added. The feedforward item is related to the circular track radius R and the speed v of the unmanned ship. The output control quantity is as follows:

[0037]

[0038] Among them, φ d is the final heading angle setting value control quantity, p I is the control coefficient of the deviation d, k is the control coefficient of the feedforward term, p I and k are adjustable constants.

[0039] Preferably, the module M3 comprises:

[0040] Decouple the system and establish the controller, set the longitudinal speed unchanged, and only design the controller for the steering control, then:

[0041]

[0042] Where: m is the mass of the boat itself, m x 、m y are the additional masses along the x-axis and y-axis respectively, I zz , J zz is the moment of inertia around the z-axis, X, Y, and N are the forces along the x-axis and y-axis directions and the torque around the z-axis in the hull coordinate system, respectively. H and P represent the forces and torques provided by the hull itself and the propeller, respectively. u, v, and r are the velocity components of the hull, corresponding to the angular velocities of rotation along the x-axis, y-axis, and z-axis, respectively. is the time derivative of the velocity component;

[0043] The PID control expression is as follows:

[0044] Δu(k)=u(k)-u(k-1)

[0045] =K P [e(k)-e(k-1)]+K I e(k)+K D [e(k)-2e(k-1)+e(k-2)]

[0046] Where, u(k) is the control quantity output by the controller. For heading control, u(k) is the main engine speed. For speed control, u(k) is the steering gear angle. K p is the proportional gain; K I is the integral coefficient; K D is the differential coefficient; e(k) is the deviation.

[0047] According to the computer-readable storage medium storing a computer program provided by the present invention, when the computer program is executed by a processor, the steps of the unmanned ship circular motion control method are implemented.

[0048] The electronic device provided according to the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the steps of the unmanned ship circular motion control method are implemented.

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] The present invention provides a method for controlling the circular motion of an unmanned ship, which is not only applicable to unmanned ships, but also to unmanned vehicles, unmanned aerial vehicles, etc.; wherein the center of the circle, the radius of the circular trajectory, and the direction of the circular motion can all be adjusted as needed, and by eliminating the accumulated error and increasing the feedforward term, the trajectory error between the actual circular motion and the standard circle can be reduced, and the circular trajectory can be accurately controlled. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0052] Figure 1 It is the overall framework of the circular control algorithm described in the present invention;

[0053] Figure 2 This is the case where the current position of the circular control algorithm of the present invention is outside the circle;

[0054] Figure 3 This is the case where the current position of the circular control algorithm of the present invention is within the circle;

[0055] Figure 4is a schematic diagram of the LOS guidance rate of the circular control algorithm of the present invention;

[0056] Figure 5 It is the circular motion trajectory tracking effect simulated by the specific implementation of the present invention;

[0057] Figure 6 It is a scene picture of the algorithm designed for the specific implementation of the present invention being implemented on an unmanned boat and conducting a circular motion test on a lake;

[0058] Figure 7 This is the effect of implementing the algorithm designed by the present invention on an unmanned boat and conducting a circular motion test on a lake. DETAILED DESCRIPTION

[0059] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0060] Example 1

[0061] The circular path control algorithm architecture designed by the present invention is as follows: Figure 1 The present invention proposes a circular motion guidance law for an unmanned ship based on tangent LOS, which uses the line of sight guidance law for linear control and converts the circular motion of the unmanned ship into linear motion through the tangent method for path control. The main steps are as follows:

[0062] Step 1: Set the circular route and determine the center, radius and direction of movement. Assume that the current position of the unmanned ship is C. Figure 2 As shown in , if the current unmanned ship is outside the set circle and the distance between the current position and the circumference is d, then a tangent line is drawn from the current position to the circumference to obtain the tangent point S. Set the target point of the unmanned ship as the tangent point S. Figure 3 As shown in the figure, if the current unmanned ship is in the set circle and the distance between the current position and the circumference is d, then take equidistant mapping points from the current position to the outside of the circle, make a tangent line from the mapping points outside the circle to the circumference, and get the tangent point S. Set the target point of the unmanned ship as the tangent point S.

[0063] Step 2: The target heading at the current position is a vector The LOS guidance law is introduced below. Figure 4 As shown in the figure, assuming that the target path is C0S, the current position of the unmanned ship is C, the foresight distance L is set, and a circle with the foresight distance L as the radius is drawn to intersect with C0S, and the intersection is taken as the target point P LOS , then:

[0064]

[0065] In the formula, x LOS ,y LOS P LOS The coordinate value of point C; x, y are the coordinate values ​​of point C; φ is the heading angle of the unmanned ship, which is used as the setting value of the heading angle.

[0066] At each moment, the position of S and the position of C0 will be readjusted to the tangent point and the current position under the current position, so that the unmanned ship's heading can be adjusted in real time in the circular direction to ensure that the unmanned ship performs circular motion. Since the target point setting scheme described in step one always uses the point on the circumference as the target point, the point on the circumference cannot be truly reached during the algorithm control process. According to the stable control analysis, there will always be a cumulative deviation in the stable state. Therefore, it is necessary to add a control item based on the cumulative error. In addition, since circular motion has a heading tendency, an initial feedforward item is added, which is related to the circular track radius R and the unmanned ship speed v. Therefore, the output control quantity is as follows:

[0067]

[0068] Among them, φ d is the final heading angle setting value control quantity, p I is the control coefficient of the deviation d, k is the control coefficient of the feedforward term, p I and k are adjustable constants.

[0069] Step 3: Establish a model of the horizontal maneuvering motion of the USV on a still water surface. Decouple the system and establish a controller. Assuming that the longitudinal speed remains unchanged, only the controller for the steering control is designed.

[0070]

[0071] Where: m x 、m y , J zz are the additional mass and additional inertia moment, respectively; X, Y, N are the forces along the x-axis and y-axis and the moment of rotation around the z-axis in the hull coordinate system, respectively; H and P represent the force and moment provided by the hull itself and the thruster, respectively.

[0072] The controller is designed according to the USV yaw angle model. This model is a first-order linear model, and the controller can be designed through many control methods such as Linear Quadratic Regulator (LQR), Proportional Integral Derivative (PID), Model Predictive Control (MPC), Active Disturbance Rejection Control (ADRC) and Sliding Mode Control (SMC).

[0073] The PID control expression is as follows:

[0074] Δu(k)=u(k)-u(k-1)

[0075] =K P [e(k)-e(k-1)]+K I e(k)+K D [e(k)-2e(k-1)+e(k-2)]

[0076] Where u(k) is the control quantity output by the controller. For heading control, u(k) is the main engine speed. For speed control, u(k) is the steering gear angle. K p is the proportional gain; K I is the integral coefficient; K D is the differential coefficient; e(k) is the error. For heading control, e(k)=ψ los -ψ u .

[0077] Step 4: The controller USV yaw angle setting value is φ d , and the output torque τ is obtained r =Δu(k), thereby enabling the unmanned ship to navigate along a circular path with high circular trajectory control accuracy.

[0078] This specific embodiment is a control system designed using a method for precise control of circular motion of an unmanned boat for circular synthetic aperture imaging proposed in the present invention, and the control system is applied to an unmanned boat prototype to conduct circular motion tests on a lake.

[0079] The model of the unmanned boat prototype manufactured in this embodiment is established, and the unmanned boat circular motion control algorithm simulation is performed according to the control algorithm designed in this embodiment. The circular path tracking simulation results are shown in Figure 2. Figure 5 shown.

[0080] It can be seen from the simulation results that the deviation of the circular trajectory tracked by the USV prototype control algorithm designed according to this embodiment is within 0.2m, and the tracking effect is good.

[0081] According to the simulation results, the algorithm designed in this embodiment is implemented in the USV prototype control system. Then the USV described in this embodiment is tested on a lake. Figure 6 The circular motion results of the lake test are shown in Figure 7 shown.

[0082] The circular motion results of the USV prototype are analyzed, and the circular path tracking error is within 0.7m, and the tracking effect is good. The horizontal attitude changes slightly during the motion, and the heading angle changes are consistent with the circular motion process.

[0083] Example 2

[0084] The present invention also provides an unmanned ship circular motion control system, which can be implemented by executing the process steps of the unmanned ship circular motion control method, that is, technical personnel in this field can understand the unmanned ship circular motion control method as a preferred implementation of the unmanned ship circular motion control system.

[0085] The unmanned ship circular motion control system provided by the present invention includes: module M1: setting a circular route, determining the center, radius and motion direction; module M2: taking the target heading of the current position as a vector direction, C is the current position of the unmanned ship, S is the target point of the unmanned ship, the speed v is set, it moves in the target heading, and then linear guidance is performed according to the LOS guidance law; Module M3: establishes a model of the horizontal maneuvering movement of the USV on a calm water surface; Module M4: sets the controller USV yaw angle in the model, obtains the torque output by the model, and then realizes the navigation of the unmanned ship along a circular path.

[0086] The module M1 includes: assuming that the current position of the unmanned ship is C, if the current unmanned ship is outside the set circle and the distance between the current position and the circumference is d, then a tangent is made from the current position to the circumference to obtain a tangent point S, and the target point of the unmanned ship is set as the tangent point S; if the current unmanned ship is inside the set circle and the distance between the current position and the circumference is d, then an equidistant mapping point is taken from the current position to the outside of the circle, and a tangent is made from the mapping point outside the circle to the circumference to obtain a tangent point S, and the target point of the unmanned ship is set as the tangent point S.

[0087] The module M2 includes: setting the target path as COS, the current position of the unmanned ship as C, setting the foresight distance L, drawing a circle with the foresight distance L as the radius, generating an intersection with COS, and taking the intersection as the target point P LOS , then:

[0088]

[0089] In the formula, C0 is the target position, x LOS ,y LOS P LOS The coordinate value of point C; x, y are the coordinate values ​​of point C; is the heading angle of the unmanned ship, which is used as the setting value of the heading angle;

[0090] According to the stable control analysis, there is a cumulative deviation in the stable state, so it is necessary to add a control item based on the cumulative deviation. Since the circular motion has a heading tendency, an initial feedforward item is added. The feedforward item is related to the circular track radius R and the speed v of the unmanned ship. The output control quantity is as follows:

[0091]

[0092] Among them, φ d is the final heading angle setting value control quantity, p I is the control coefficient of the deviation d, k is the control coefficient of the feedforward term, p I and k are adjustable constants.

[0093] The module M3 includes: decoupling the system and establishing a controller, setting the longitudinal speed unchanged, and only designing the controller for the steering control, then:

[0094]

[0095] Where: m is the mass of the boat itself, m x 、m y are the additional masses along the x-axis and y-axis respectively, I zz , J zz is the moment of inertia around the z-axis, X, Y, and N are the forces along the x-axis and y-axis directions and the torque around the z-axis in the hull coordinate system, respectively. H and P represent the forces and torques provided by the hull itself and the propeller, respectively. u, v, and r are the velocity components of the hull, corresponding to the angular velocities of rotation along the x-axis, y-axis, and z-axis, respectively. is the time derivative of the velocity component;

[0096] The PID control expression is as follows:

[0097] Δu(k)=u(k)-u(k-1)

[0098] =K P [e(k)-e(k-1)]+K I e(k)+K D [e(k)-2e(k-1)+e(k-2)]

[0099] Where, u(k) is the control quantity output by the controller. For heading control, u(k) is the main engine speed. For speed control, u(k) is the steering gear angle. K p is the proportional gain; K I is the integral coefficient; K D is the differential coefficient; e(k) is the deviation.

[0100] Those skilled in the art know that, in addition to implementing the system, device and its various modules provided by the present invention in a purely computer-readable program code, it is entirely possible to implement the same program in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, the system, device and its various modules provided by the present invention can be considered as a hardware component, and the modules included therein for implementing various programs can also be considered as structures within the hardware component; the modules for implementing various functions can also be considered as both software programs for implementing the method and structures within the hardware component.

[0101] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A method for controlling circular motion of an unmanned ship, characterized in that: include: Step 1: Set the circular route and determine the center, radius and direction of movement; Step 2: Use the target heading at the current position as a vector direction, C is the current position of the unmanned ship, S is the target point of the unmanned ship, set the speed v, move in the target heading, and then perform linear guidance according to the LOS guidance law; Step 3: Establish a model for the horizontal maneuvering motion of USV on a still water surface; Step 4: Set the controller USV yaw angle in the model to obtain the torque output by the model, thereby enabling the unmanned ship to navigate along a circular path.

2. The unmanned ship circular motion control method according to claim 1, characterized in that: The step 1 comprises: assuming that the current position of the unmanned ship is C; if the current unmanned ship is outside the set circle and the distance between the current position and the circumference is d, a tangent is made from the current position to the circumference to obtain a tangent point S, and the target point of the unmanned ship is set as the tangent point S; if the current unmanned ship is inside the set circle and the distance between the current position and the circumference is d, an equidistant mapping point is taken from the current position to the outside of the circle, a tangent is made from the mapping point outside the circle to the circumference to obtain a tangent point S, and the target point of the unmanned ship is set as the tangent point S.

3. The unmanned ship circular motion control method according to claim 2, characterized in that: The step 2 comprises: Assume the target path is C0S, the current position of the unmanned ship is C, set the foresight distance L, and draw a circle with the foresight distance L as the radius to intersect with C0S, and take the intersection as the target point P LOS , then: Where C0 is the target position, x LOS ,y LOS P LOS The coordinate value of point C; x, y are the coordinate values ​​of point C; is the heading angle of the unmanned ship, which is used as the setting value of the heading angle; According to the stable control analysis, there is a cumulative deviation in the stable state, so it is necessary to add a control item based on the cumulative deviation. Since the circular motion has a heading tendency, an initial feedforward item is added. The feedforward item is related to the circular track radius R and the speed v of the unmanned ship. The output control quantity is as follows: Among them, φ d is the final heading angle setting value control quantity, p I is the control coefficient of the deviation d, k is the control coefficient of the feedforward term, p I and k are adjustable constants.

4. The unmanned ship circular motion control method according to claim 3, characterized in that: The step 3 comprises: Decouple the system and establish the controller, set the longitudinal speed unchanged, and only design the controller for the steering control, then we have: Where: m is the mass of the boat itself, m x 、m y are the additional masses along the x-axis and y-axis respectively, I zz , J zz is the moment of inertia around the z-axis, X, Y, and N are the forces along the x-axis and y-axis directions and the torque around the z-axis in the hull coordinate system, respectively. H and P represent the forces and torques provided by the hull itself and the propeller, respectively. u, v, and r are the velocity components of the hull, corresponding to the angular velocities of rotation along the x-axis, y-axis, and z-axis, respectively. is the time derivative of the velocity component; The PID control expression is as follows: Δu(k)=u(k)-u(k-1) =K P [e(k)-e(k-1)]+K I e(k)+K D [e(k)-2e(k-1)+e(k-2)] Where, u(k) is the control quantity output by the controller. For heading control, u(k) is the main engine speed. For speed control, u(k) is the steering angle of the steering gear. K p is the proportional gain; K I is the integral coefficient; K D is the differential coefficient; e(k) is the deviation.

5. An unmanned ship circular motion control system, characterized in that: include: Module M1: Set the circular route, determine the center, radius and direction of movement; Module M2: Take the target heading at the current position as a vector direction, C is the current position of the unmanned ship, S is the target point of the unmanned ship, set the speed v, move in the target heading, and then perform linear guidance according to the LOS guidance law; Module M3: Modeling the horizontal maneuvering motion of USV on still water surface; Module M4: Set the controller USV yaw angle in the model to obtain the torque output by the model, thereby enabling the unmanned ship to navigate along a circular path.

6. The unmanned ship circular motion control system according to claim 5, characterized in that: The module M1 includes: assuming that the current position of the unmanned ship is C, if the current unmanned ship is outside the set circle and the distance between the current position and the circumference is d, then a tangent is made from the current position to the circumference to obtain a tangent point S, and the target point of the unmanned ship is set as the tangent point S; if the current unmanned ship is inside the set circle and the distance between the current position and the circumference is d, then an equidistant mapping point is taken from the current position to the outside of the circle, and a tangent is made from the mapping point outside the circle to the circumference to obtain a tangent point S, and the target point of the unmanned ship is set as the tangent point S.

7. The unmanned ship circular motion control system according to claim 6, characterized in that: The module M2 comprises: Assume the target path is C0S, the current position of the unmanned ship is C, set the foresight distance L, and draw a circle with the foresight distance L as the radius to intersect with C0S, and take the intersection as the target point P LOS , then: In the formula, C0 is the target position, x LOS ,y LOS P LOS The coordinate value of point C; x, y are the coordinate values ​​of point C; is the heading angle of the unmanned ship, which is used as the setting value of the heading angle; According to the stable control analysis, there is a cumulative deviation in the stable state, so it is necessary to add a control item based on the cumulative deviation. Since the circular motion has a heading tendency, an initial feedforward item is added. The feedforward item is related to the circular track radius R and the speed v of the unmanned ship. The output control quantity is as follows: Among them, φ d is the final heading angle setting value control quantity, p I is the control coefficient of the deviation d, k is the control coefficient of the feedforward term, p I and k are adjustable constants.

8. The unmanned ship circular motion control system according to claim 7, characterized in that: The module M3 comprises: Decouple the system and establish the controller, set the longitudinal speed unchanged, and only design the controller for the steering control, then we have: Where: m is the mass of the boat itself, m x 、m y are the additional masses along the x-axis and y-axis respectively, I zz , J zz is the moment of inertia around the z-axis, X, Y, and N are the forces along the x-axis and y-axis directions and the torque around the z-axis in the hull coordinate system, respectively. H and P represent the forces and torques provided by the hull itself and the propeller, respectively. u, v, and r are the velocity components of the hull, corresponding to the angular velocities of rotation along the x-axis, y-axis, and z-axis, respectively. is the time derivative of the velocity component; The PID control expression is as follows: Δu(k)=u(k)-u(k-1) =K P [e(k)-e(k-1)]+K I e(k)+K D [e(k)-2e(k-1)+e(k-2)] Where, u(k) is the control quantity output by the controller. For heading control, u(k) is the main engine speed. For speed control, u(k) is the steering angle of the steering gear. K p is the proportional gain; K I is the integral coefficient; K D is the differential coefficient; e(k) is the deviation.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the unmanned ship circular motion control method described in any one of claims 1 to 4 are implemented.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the computer program is executed by a processor, the steps of the unmanned ship circular motion control method described in any one of claims 1 to 4 are implemented.

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