A method for controlling the launch of a watercraft from the surface

Abstract

The application belongs to the technical field of comprehensive control method of vehicle, and particularly relates to a vehicle water surface launching control method. The method comprises the following steps: establishing a vehicle conversion coordinate system, including a ground coordinate system, a body coordinate system and a conversion model thereof; establishing a vehicle motion characteristic mathematical model, including a vehicle momentum and a momentum moment mathematical model; establishing a vehicle mechanical characteristic mathematical model, including a gravity and a buoyancy and a torque mathematical model thereof; and establishing a vehicle state control mathematical model, including a system model of state components and control components; based on the established system model of state components and control components, based on vehicle water surface launching state parameters, control parameters are optimized and generated to obtain a control method for enabling the vehicle to obtain a preset state. The application is used for assisting comprehensive control of various vehicles related to water-out and water-in behaviors, and is beneficial to obtaining more direct control results in complex environments.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of integrated control method of vehicle, and particularly relates to a vehicle water surface launching control method. BACKGROUND

[0002] The water surface launching vehicle is an important equipment for future ocean resource exploration and ocean strategy implementation. Due to the changeable ocean environment, the water surface vehicle exists in underwater navigation, water surface launching, air flight and other different states. The attitude control scheme, internal and external control mode and other aspects are quite different in different states. In the traditional scheme, the method of analyzing and obtaining the control amount in the expected state based on the real-time state of the vehicle to form a complete control scheme is difficult to realize. SUMMARY

[0003] The application aims to provide a vehicle water surface launching control method based on the fuzzy idea, which is beneficial to simplify the vehicle water surface launching control process and simplify the control scheme.

[0004] To achieve the above-mentioned purpose, the application adopts the following technical scheme.

[0005] A vehicle water surface launching control method comprises the following steps:

[0006] Step 1, establishing a vehicle conversion coordinate system, including a ground coordinate system, a body coordinate system and a conversion model thereof;

[0007] Step 2, establishing a vehicle motion characteristic mathematical model, including a vehicle momentum and a momentum moment mathematical model:

[0008] Step 3, establishing a vehicle mechanical characteristic mathematical model, including a gravity and buoyancy and a torque mathematical model thereof;

[0009] Step 4, establishing a vehicle state control mathematical model, including a system model of state components and control components;

[0010] Step 5, based on the established system model of state components and control components, based on the vehicle water surface launching state parameters, optimizing and generating control parameters to obtain a control method for making the vehicle obtain a preset state.

[0011] Further improvement or specific implementation steps of the aforementioned vehicle water surface launching control method, in step 1, the ground coordinate system O a X a Y a Z a is established based on a fixed origin on the ground, the body coordinate system O b X b Y b Z bIt is established based on the center of gravity of the aircraft, and based on the aircraft's pitch angle θ and heading angle And, the heel angle φ establishes the ground coordinate system O a X a Y a Z a To body coordinate system O b X b Y b Z b Conversion model It can be expressed as:

[0012]

[0013] Further improvement or specific implementation steps of the above-mentioned vehicle surface launch control method, the step 2 specifically includes: defining the vehicle at x b 、y b 、z b The force on each axis is F=[F x ,F y ,F z ] T , the motion torque is M=[M x ,M y ,M z ] T , establish the mathematical model of spacecraft momentum and angular momentum:

[0014]

[0015] Where m is the mass of the spacecraft, v is the velocity matrix and v = [v x ,v y ,v z ],v x 、v y 、v z are the linear velocities of each axis respectively; w is the angular velocity matrix and w=[w x ,w y ,w z ],w x 、w y 、w z are the angular velocities of each axis; r G =[x G ,y G ,z G ] refers to the coordinates of the center of gravity of the spacecraft, and the superscript · indicates differential;

[0016] in is the moment of inertia matrix, and the elements in the matrix are the moments of inertia of each axis or between axes.

[0017] Further improvement or specific implementation steps of the water surface launch control method of the aforementioned vehicle, the step 3 specifically includes: according to the displacement volume V of the vehicle, the size of the buoyancy F = p 水 V and the size of the gravity G = mg can be determined; further get the body coordinate system O b X b Y b Z b The buoyancy component in the above direction And the gravity component

[0018] The body coordinate system O b X b Y b Z b The gravity direction vector [x g ,y g ,z g ] above obtains the gravity moment M G of the vehicle;

[0019]

[0020] The joint coordinate system O b X b Y b Z b The buoyancy direction vector [x f ,y f ,z f ] above establishes the joint matrix model of the resultant force and moment under the combined action of the gravity and buoyancy of the vehicle:

[0021]

[0022] Further improvement or specific implementation steps of the water surface launch control method of the aforementioned vehicle, the step 4 specifically includes: extracting the state attribute of the vehicle in the aforementioned mathematical model to construct the state quantity [x1, x2...x n ], extracting the control attribute of the vehicle in the aforementioned mathematical model to construct the control quantity [u1, u2...u m ]; Wherein x n represents the nth state attribute involved in the mathematical model, u m represents the mth control parameter involved in the mathematical model;

[0023] In the state space S = [s i ] of the nonlinear control system of the vehicle, define the convergent state surface and the convergent state point on the convergent state surface;

[0024] Where s iThe state of the nonlinear control of the vehicle; the converging state point is defined as: after the attribute state of the vehicle enters the state point, the attribute state of the vehicle will tend to maintain the state; the converging state surface is a surface formed by the converging state points in the state space S;

[0025] A nonlinear state control model of the vehicle launch process is defined based on the nonlinear control system:

[0026]

[0027] X = [x1, x2...x n ]

[0028] U = [u1, u2....u m ]

[0029]

[0030] Where T represents the amount of time of the vehicle, t represents the time point, X is the state matrix of the vehicle, U is the control matrix of the vehicle, s i (x, t) represents the state variable of the system; u i (x, t) is the control variable of the system, i = 1, 2... m, and are the control variables when the nonlinear control system of the vehicle is in the state s i on the upper side and the lower side of the converging state surface in the state space S;

[0031] The converging state point on the converging state surface is the target state point of the vehicle, in order to ensure that the state control of the vehicle meets the requirements, the points near the converging state surface in the state space S need to meet

[0032] Based on the foregoing nonlinear state control model, the motion process of the vehicle can be fuzzified into two steps, the first step is to move the system from the initial state to the direction of the converging state surface, slowly approaching the converging state surface, defined as the approaching motion, the second step is to continuously control based on the attribute point of the converging state surface to maintain the motion characteristics, defined as the sustained motion;

[0033] For a single state variable of the vehicle, a single-input single-output fuzzy control

[0034] y = f(x, t) + g(x, t)u(t) + d(x, t); where f(x, t) and g(x, t) represent uncertain nonlinear functions, y is the system output, u(t) is the system input, and d(x, t) is the system disturbance; the desired vehicle system state corresponding to the converging state surface in the vehicle state space can be represented as: s(e) = c1 + c2e +... + c n-1 e n-2+e n-1 ; wherein [e,e 2 ,...e n-2 ,e n-1 ] is the system tracking error, [c1,c2...c n-1 ] is the parameter term satisfying the stability of the Hurwitz polynomial;

[0035] Then for the overall state of the vehicle [x1,x2...x n ], the fuzzy logic system is constructed by using the multi-state fuzzy logic rule where F i l and B l are fuzzy logic sets, l=1,2...m...M R , wherein M R represents the total number of fuzzy rules; the output of the fuzzy logic system R is η l.i represents the state quantity x i , and y l is the fuzzy center of the lth fuzzy set.

[0036] According to the control characteristics of the vehicle, the nonlinear functions f(x,t), g(x,t) and d(x,t) are data quantities of the vehicle pose, so fuzzy logic is constructed to approximate f(x,t), fuzzy logic is constructed to approximate g(x,t), and the control rate function of the fuzzy system is obtained wherein wherein the PI controller control law is wherein θ g is the controller gain.

[0037] The beneficial effects are:

[0038] The navigation water surface launch control method of the application is mainly used for assisting the comprehensive control of various vehicles related to the water entry and exit behavior, simplifying the structure of the vehicle control system, constructing the fuzzy control of the interval outside the target state by using the fuzzy processing method, which is beneficial to obtain more direct control results in complex environment, reduces the influence of unstable intermediate stage and changing external environment on the control system, and provides specific schemes for simplifying the control scheme and improving the effectiveness of the control system. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 is the different process of the vehicle launch. DETAILED DESCRIPTION

[0040] The application will be described in detail below in combination with specific embodiments.

[0041] The surface launch control method of the aircraft of the present invention is mainly aimed at aircraft with complex launch control process, such as Figure 1 As shown, they are mainly various types of aircraft that are launched from the surface and involve underwater navigation, surface launch and possible re-entry navigation.

[0042] Specifically, the vehicle surface launch control method of the present application mainly includes the following steps:

[0043] Step 1: Establish the aircraft transformation coordinate system, including the ground coordinate system, body coordinate system and its transformation model; ground coordinate system O a X a Y a Z a Based on the fixed origin on the surface, the body coordinate system O b X b Y b Z b It is established based on the center of gravity of the aircraft, and based on the aircraft's pitch angle θ and heading angle And, the heel angle φ establishes the ground coordinate system O a X a Y a Z a To body coordinate system O b X b Y b Z b Conversion model It can be expressed as:

[0044]

[0045] Step 2: Establish the mathematical model of the spacecraft's motion characteristics, including the mathematical model of the spacecraft's momentum and angular momentum: define the spacecraft's b 、y b 、z b The force on each axis is F=[F x ,F y ,F z ] T , the motion torque is M=[M x ,M y ,M z ] T , establish the mathematical model of spacecraft momentum and angular momentum:

[0046]

[0047] Where m is the mass of the spacecraft, v is the velocity matrix and v = [v x ,v y ,v z ],v x 、vy 、v z are the linear velocities of each axis respectively; w is the angular velocity matrix and w=[w x ,w y ,w z ],w x 、w y 、w z are the angular velocities of each axis; r G =[x G ,y G ,z G ] refers to the coordinates of the center of gravity of the spacecraft, and the superscript · indicates differential;

[0048] in is the moment of inertia matrix, and the elements in the matrix are the moments of inertia of each axis or between axes.

[0049] Step 3: Establish a mathematical model of the mechanical characteristics of the spacecraft, including the mathematical models of gravity, buoyancy and torque; the buoyancy F = ρ can be determined based on the displacement volume V of the spacecraft. 水 V and the magnitude of gravity G = mg; further obtain the body coordinate system O b X b Y b Z b Buoyancy components in all directions and the gravitational component

[0050] Combined body coordinate system O b X b Y b Z b The upper gravity direction vector [x g ,y g ,z g ]Get the vehicle gravity moment M G ;

[0051]

[0052] Joint coordinate system O b X b Y b Z b The buoyancy direction vector [x f ,y f ,z f ]Establish the combined force and moment matrix model under the combined action of the vehicle's gravity and buoyancy:

[0053]

[0054] Step 4, establishing a vehicle state control mathematical model, including a system model of state components and control components; extracting vehicle state attributes in the aforementioned mathematical model to construct state quantities [x1, x2...x n ], and extracting vehicle control attributes in the aforementioned mathematical model to construct control quantities [u1, u2...u m ]; wherein x n represents the nth state attribute involved in the mathematical model, and u m represents the mth control parameter involved in the mathematical model;

[0055] In the state space S = [s i ] of the nonlinear control system of the vehicle, a convergent state surface and a convergent state point on the convergent state surface are defined.

[0056] Wherein s i represents the state of the nonlinear control of the vehicle; the convergent state point is defined as: after the attribute state of the vehicle enters the state point, the attribute state of the vehicle will tend to maintain the state; the convergent state surface is a surface formed by the convergent state points in the state space S;

[0057] Based on the nonlinear control system, a nonlinear state control model of the launch process of the vehicle is defined:

[0058]

[0059] X = [x1, x2...x n ]

[0060] U = [u1, u2...u m ]

[0061]

[0062] Wherein T represents the time quantity of the vehicle, t represents the time point, X is the state quantity matrix of the vehicle, U is the control quantity matrix of the vehicle, s i (x, t) represents the system state variable; u i (x, t) is the system control variable, i = 1, 2...m, and are control variables that make the nonlinear control system of the vehicle be on the upper side and the lower side of the state s i of the convergent state surface in the state space;

[0063] The convergent state point on the convergent state surface is the target state point of the vehicle, in order to ensure that the state control of the vehicle meets the requirements, the points near the convergent state surface in the state space S need to satisfy

[0064] Based on the aforementioned nonlinear state control model, the motion process of the vehicle can be fuzzified into two steps: the first step is to move from the initial state to the direction of the asymptotic state surface, slowly approaching the asymptotic state surface, which is defined as the approaching motion; the second step is to continuously control the motion characteristics based on the attribute points of the asymptotic state surface, which is defined as the sustained motion.

[0065] For a single state variable of the vehicle, a single-input single-output fuzzy control is established

[0066] y = f(x, t) + g(x, t)u(t) + d(x, t); where f(x, t) and g(x, t) represent uncertain nonlinear functions, y is the system output, u(t) is the system input, and d(x, t) is the system disturbance; the desired vehicle system state corresponding to the asymptotic state surface in the vehicle state space can be represented as: s(e) = c1 + c2e +... + c n-1 e n-2 + e n-1 ; where [e, e 2 ,... e n-2 , e n-1 ] is the system tracking error, [c1, c2... c n-1 ] is the parameter term that satisfies the stability of the Hurwitz polynomial;

[0067] Then, for the overall state [x1, x2... x n ] of the vehicle, a fuzzy logic system is constructed using multi-state fuzzy logic rules where F i l and B l are fuzzy logic sets, l = 1, 2... m... M R , where M R represents the total number of fuzzy rules; the output of the fuzzy logic system R is η l.i represents the state variable x i For the membership function of the lth fuzzy set, y l is the fuzzy center of the lth fuzzy set;

[0068] According to the control characteristics of the vehicle, it is known that the nonlinear functions f(x, t), g(x, t) and d(x, t) are data quantities of the vehicle pose, so fuzzy logic can be constructed to approximate f(x, t), and fuzzy logic can be constructed to approximate g(x, t), obtaining the control rate function of the fuzzy system where where the PI controller control law is where θ g is the controller gain.

[0069] Step 5, based on the system model of the established state component and control component, based on the water surface launch state parameters of the vehicle, the control parameters are optimized and generated, and the control method for the vehicle to obtain the preset state is obtained.

[0070] It should be noted that the above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the scope of protection of the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the essence and scope of the technical solutions of the present application.

Claims

1. A method for controlling a vehicle's surface launch, characterized in that: The steps include: Step 1: Establish the aircraft transformation coordinate system, including the ground coordinate system, the body coordinate system and their transformation model; Step 2: Establish a mathematical model of the spacecraft's motion characteristics, including the mathematical models of the spacecraft's momentum and angular momentum: Step 3: Establish a mathematical model of the mechanical characteristics of the spacecraft, including the mathematical models of gravity, buoyancy and torque; Step 4: Establish a mathematical model for vehicle state control, including a system model of state components and control components; The step 4 specifically includes: extracting the state attributes of the aircraft in the above mathematical model to construct the state quantity , extract the control properties of the aircraft in the above mathematical model to construct the control quantity ;in Represents the nth state attribute involved in the mathematical model, represents the mth control parameter involved in the mathematical model; In the nonlinear control system of aircraft The state space In it, define the convergence state surface and the convergence state points on the convergence state surface; in Represents the state of the nonlinear control of the aircraft; the convergence state point is defined as: after the aircraft's attribute state enters this state point, the aircraft's attribute state will tend to maintain this state; the convergence state surface is the state space The surface formed by the points of inner convergence state; The nonlinear state control model of the spacecraft launch process is defined based on the nonlinear control system: ； in represents the amount of time of the spacecraft, t represents the time point, is the vehicle state matrix, is the vehicle control matrix, Represents system state variables; Refers to the system control variable, i=1,2...m, and They are the states that make the nonlinear control system of the spacecraft in the convergent state surface in the state space. Control variables for upside and downside; The convergent state point on the convergent state surface is the target state point of the aircraft. To ensure that the aircraft state control meets the requirements, the state space Points located near the convergence surface need to satisfy ; Based on the aforementioned nonlinear state control model, the motion process of the spacecraft can be fuzzified into two steps. The first step is that the system starts from the initial state and moves towards the convergence state surface, slowly approaching the convergence state surface, which is defined as the approaching motion. The second step is to continuously control the motion characteristics based on the attribute points of the convergence state surface, which is defined as the continuous motion. For a single state quantity of the aircraft, a single-input single-output fuzzy control is established. ;in and represents an uncertain nonlinear function, is the system output, is the system input, is the system interference; the convergence state surface corresponding to the desired aircraft system state in the aircraft state space can be expressed as: ;in is the system tracking error, is a parameter term that satisfies the stability of Hurwitz polynomial; For the overall state of the spacecraft , using multi-state fuzzy logic rules to build fuzzy logic systems ;in and is a fuzzy logic set, ,in Represents the total number of fuzzy rules; fuzzy logic system The output is ; Represents state quantity For the The membership function of a fuzzy set is It refers to the The fuzzy center of a fuzzy set; According to the control characteristics of the spacecraft, it is easy to know that the nonlinear function 、 as well as is the amount of data on the vehicle's posture, so fuzzy logic can be constructed Come closer , construct fuzzy logic Come closer , we get the control rate function of the fuzzy system ,in ; The PI controller control law is ;in is the controller gain; Step 5: Based on the established system model of state components and control components and based on the surface launch state parameters of the vehicle, the control parameters are optimized and generated to obtain a control method that enables the vehicle to obtain a preset state.

2. The method for controlling the launch of an aircraft on the surface of water according to claim 1, characterized in that: In step 1, the ground coordinate system Based on the fixed origin on the surface, the body coordinate system It is established based on the center of gravity of the aircraft and the pitch angle of the aircraft. , heading angle and heel angle Establishing a ground coordinate system To body coordinate system Conversion model , which can be expressed as: 。 3. The method for controlling the launch of an aircraft on the surface of water according to claim 2, characterized in that: The step 2 specifically includes: defining the aircraft in The forces on each axis are The motion torque is , establish the mathematical model of spacecraft momentum and angular momentum: ； in is the mass of the spacecraft, is the velocity matrix and , are the linear speeds of each axis respectively; is the angular velocity matrix and , are the angular velocities of each axis respectively; Refers to the coordinates of the center of gravity of the spacecraft, with the superscript represents differential; in is the moment of inertia matrix, and the elements in the matrix are the moments of inertia of each axis or between axes.

4. The method for controlling the launch of an aircraft from the surface of water according to claim 3, characterized in that: The step 3 specifically includes: according to the displacement volume of the aircraft Its buoyancy can be determined and the magnitude of gravity ; Further obtain in the body coordinate system Buoyancy components in all directions and the gravitational component ; Combined body coordinate system Upper gravity direction vector Get the vehicle gravity moment ; ； Joint Coordinate System Upward buoyancy direction vector Establish the combined force and moment matrix model under the combined action of the vehicle's gravity and buoyancy: 。

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