Overwater automatic driving control method for amphibious vehicle capable of resisting wind wave disturbance
By establishing a kinematic model of amphibious vehicle navigation and designing disturbance estimation variables and event-triggered update laws, combined with a PD controller, the problem of stable tracking of amphibious vehicles under wind, waves and water flow disturbances was solved, and stable autonomous driving control without additional hardware was achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-05
- Publication Date
- 2026-04-07
AI Technical Summary
Existing autonomous driving control methods are ill-equipped to handle the stable tracking problem of amphibious vehicles under wind and wave disturbances and time-varying drag, especially in water navigation scenarios, where traditional methods are difficult to apply.
A kinematic model of amphibious vehicle navigation on water is established, and update laws for disturbance estimation variables and event triggering are designed. Combined with a PD controller, stable control of the propulsion speed and angular velocity of the left and right actuators is achieved. Intermediate variables and virtual control speed are used to compensate for disturbances caused by wind, waves and water flow.
Without adding hardware, stable autonomous driving of amphibious vehicles under wind, waves and water flow disturbances was achieved, improving tracking accuracy and stability, and demonstrating universality and dynamic compensation capabilities.
Smart Images
Figure CN121806833A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of autonomous driving technology for amphibious vehicles, specifically relating to an autonomous driving control method for amphibious vehicles resistant to wind and wave disturbances on water. More specifically, it relates to an autonomous driving control method for amphibious vehicles with actuators installed in parallel on the same plane and steering through speed differences during water navigation. Background Technology
[0002] Amphibious vehicles have broad application prospects in both military and civilian fields. During amphibious navigation, these vehicles are typically controlled by two parallel water jets or propellers for propulsion and steering. Unlike land-based operations, amphibious vehicles inevitably encounter wind and waves during amphibious navigation, posing significant challenges to stable driving and tracking. Currently, amphibious vehicles rely on precise driver operation to ensure stability and tracking accuracy under wind and wave disturbances. However, considering that complex wind and wave environments will severely deplete driver energy, there is a need to develop autonomous driving methods to ensure driving stability and tracking accuracy, thereby reducing driver energy consumption and improving overall vehicle ergonomics.
[0003] It is worth noting that although land-based autonomous driving control technology is becoming increasingly mature, the actuation mechanisms of amphibious vehicles on water are completely different from those of land vehicles, and the obstruction situations encountered by vehicles in amphibious navigation scenarios are more complex than those on land. In addition, factors such as variable winds and waves and the lack of road signs on water further make it difficult to apply traditional autonomous driving control methods to amphibious vehicles.
[0004] Therefore, there is an urgent need to develop an autonomous driving control method that can resist wind and wave disturbances, taking into account the motion characteristics of amphibious vehicles during the amphibious process. Summary of the Invention
[0005] (a) Technical problems to be solved The technical problem this invention aims to solve is: how to propose an autonomous driving control method for amphibious vehicles that is resistant to wind and wave disturbances. Specifically, considering a class of amphibious vehicles with their actuation mechanisms arranged parallel to each other on the same plane, an adaptive autonomous driving control method is proposed, taking into account the characteristics of waterborne motion and external disturbances. Based on this method, online estimation and compensation for wind and wave disturbances and water flow resistance of varying intensities can be achieved without adding hardware, thereby ensuring that the autonomous driving control algorithm can achieve stable tracking. This solves the problem that land-based autonomous driving algorithms struggle to cope with wind and wave disturbances and time-varying resistance, and has strong application value in engineering applications.
[0006] (II) Technical Solution To address the aforementioned technical problems, this invention provides an amphibious vehicle waterborne automatic driving control method resistant to wind and wave disturbances, the automatic driving control method comprising the following steps: The first step is to consider the resistance of wind, waves and water flow, and to establish a kinematic model for amphibious vehicles with parallel underwater actuators on both sides for water navigation. The second step is to introduce intermediate variables and design the perturbation estimation variables and the update law for event-triggered perturbation estimation variables. The third step is to design the update law of intermediate variables, virtual control linear velocity, and virtual control angular velocity based on the kinematic model of the amphibious vehicle. The fourth step is to design PD controllers for the left and right actuators respectively, so that the linear velocity and angular velocity formed by the coupling of the propulsion speeds of the left and right actuators can track the virtual control linear velocity and virtual control angular velocity.
[0007] In the first step, considering wind, waves, and water resistance, a kinematic model for water navigation is established for amphibious vehicles equipped with left and right parallel underwater actuators. Specifically: in, and It is an amphibious vehicle in an inertial coordinate system direction and Directional location information, It is the yaw angle of the amphibious vehicle in the inertial coordinate system. and These are the linear velocity and angular velocity of the amphibious vehicle in the vehicle's coordinate system, where the vehicle's coordinate system... The axis points forward of the vehicle body; vehicle coordinate system The axis points to the left of the vehicle body; vehicle coordinate system Axis orientation and inertial coordinate system The axes point in the same direction. , and These are wind and waves and water flow. direction, Unknown linear and angular velocity disturbances caused by the direction and yaw angle.
[0008] set up , , , , The initial values are respectively , , , , .
[0009] In the second step, intermediate variables are introduced, and based on these, the update law for the perturbation estimation variables and the event-triggered perturbation estimation variables is designed. Specifically, this includes introducing intermediate variables. Based on this, the perturbation estimation variables were designed. , and and its event-triggered update law , and as follows; in, Indicates the number of trigger interval divisions. , , , , , , ... , ... , ... It is a positive update law parameter. , and It is the deviation of the update law constant. , ... , , ... , , ... It is a constant threshold parameter. , and It is a small positive number. , and It is a pre-planned amphibious vehicle trajectory; in addition, estimation variables are set. , and The initial value is , and .
[0010] In the third step, based on the kinematic model of the amphibious vehicle, the update law of intermediate variables, virtual control linear velocity, and virtual control angular velocity are designed. Specifically, this includes: designing intermediate variables based on the kinematic model of the amphibious vehicle in the first step. Update law, virtual control linear velocity and virtual control angular velocity as follows: and It is a positive control parameter. , and This is the expected operating speed of the amphibious vehicle.
[0011] In the fourth step, PD controllers are designed for the left and right actuators respectively, so that the linear velocity and angular velocity formed by the coupling of the propulsion speeds of the left and right actuators can track the virtual control linear velocity and virtual control angular velocity. Specifically: Step S1, calculate the virtual control linear velocity obtained in step three. and virtual control angular velocity The transformation is performed to obtain the desired propulsion speed for the left and right actuators. and ; in, It is half the straight-line distance between the two parallel actuators; Step S2: Design PD controllers for the left and right actuators respectively. and as follows: in, , , and These are the PD control parameters for the left and right actuators, respectively.
[0012] (III) Beneficial Effects Compared with the prior art, the beneficial effects of the present invention are: (1) Using the anti-wind and wave disturbance amphibious vehicle automatic driving control method proposed in this invention, for amphibious vehicles with parallel installation on both sides of the water propulsion actuator, stable automatic driving can be achieved under wind, waves and water flow disturbance; (2) The present invention designs a perturbation estimation variable that does not require additional hardware equipment, making the proposed method universal; (3) The present invention designs an event-triggered estimation variable update law, which can dynamically modify the estimation characteristics of the update law according to different disturbance effects, thereby improving the ability to compensate for time-varying disturbances. (4) The present invention can reduce the adverse effects of disturbances on tracking error by increasing the controller parameters. Attached Figure Description
[0013] Figure 1 This is a schematic diagram of the method flow of the present invention.
[0014] Figure 2 A top-down view illustration of an amphibious vehicle.
[0015] Figure 3 This is a schematic diagram of the tracking error in the x-direction.
[0016] Figure 4 This is a schematic diagram of the tracking error in the y-direction.
[0017] Figure 5 This is a schematic diagram of the tracking error in the x-direction without disturbance compensation.
[0018] Figure 6 This is a schematic diagram of the tracking error in the y-direction without disturbance compensation.
[0019] Figure 7 This is a schematic diagram of the tracking error in the x-direction when the control parameters are reduced.
[0020] Figure 8 This is a schematic diagram of the tracking error in the y-direction when the control parameters decrease. Detailed Implementation
[0021] To make the objectives, contents, and advantages of the present invention clearer, the specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.
[0022] Example 1 This embodiment provides an autonomous driving control method for amphibious vehicles that is resistant to wind and wave disturbances. The schematic diagram is shown below. Figure 1 As shown, it includes the following steps: The first step is to consider the resistance of wind, waves and water flow, and to establish a kinematic model for amphibious vehicles with parallel underwater actuators on both sides for water navigation. The second step is to introduce intermediate variables and design the perturbation estimation variables and the update law of the event-triggered perturbation estimation variables accordingly. The third step is to design the update law of intermediate variables, virtual control linear velocity, and virtual control angular velocity based on the kinematic model of the amphibious vehicle. The fourth step is to design PD controllers for the left and right actuators respectively, so that the linear velocity and angular velocity formed by the coupling of the propulsion speeds of the left and right actuators can track the virtual control linear velocity and virtual control angular velocity.
[0023] In the first step, considering wind, waves, and water resistance, the following kinematic model for amphibious vehicles equipped with parallel left and right underwater actuators is established for water navigation: in, , , , , , Indicates runtime. It is the hyperbolic tangent function.
[0024] In the second step, disturbance estimation variables are designed based on control error. , and and its event-triggered update law , and as follows; in, , and Number of trigger interval divisions Update law parameters , , , , , , , Update law deviation Threshold parameter , , , , , , positive numbers , , Indicates the runtime.
[0025] In the third step, variables are designed based on the kinematic model of the amphibious vehicle. The update law and virtual control input and as follows: Among them, control parameters , , , and The desired operating speed of amphibious vehicles is to meet... In the fourth step, PD controllers are designed for the left and right actuators respectively, so that the linear velocity of the left and right actuators is... and Linear velocity formed by coupling and angular velocity Able to track virtual control input and .include: Step S1: Transform the obtained virtual control into the linear velocity expected to be generated by the left and right actuators. and ; in, .
[0026] Step S2: Design PD controllers to generate control inputs for the left and right actuators respectively. and as follows: in, , , and These are the PD control parameters for the left and right actuators, respectively.
[0027] The proposed method was simulated and verified using MATLAB, where the mathematical model of the actuator was selected as follows: The differential equations were solved numerically using the fourth-order Runge-Kutta method, with a calculation step size of 0.005 seconds and a simulation duration of 40 seconds. The simulation results are attached. Figure 3-8 As shown.
[0028] in, Figure 3 and Figure 4 The diagram shows the tracking error generated by the proposed method. It can be seen that after being disturbed at the 10th and 30th seconds, the controller still ensures that the unknown tracking error converges quickly. Figure 5 and Figure 6 This is a schematic diagram illustrating the tracking error of the proposed method without introducing perturbation estimates. (Comparison) Figure 3 and Figure 4 It can be seen that not introducing the disturbance estimate in the second step will lead to a significant increase in tracking error under disturbance. Figure 7 and Figure 8 It is to reduce the control parameters in the third step. and The following is a schematic diagram of the tracking error. , Compared to the original parameters, both parameters have decreased. Figure 3 and Figure 4 The comparison shows that the parameters and After the disturbance is reduced, its impact on tracking performance increases.
[0029] The simulation results above verify the effectiveness of this method and its beneficial effects.
[0030] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.
Claims
1. A method for automatic navigation control of amphibious vehicles resistant to wind and wave disturbances, characterized in that, The autonomous driving control method Includes the following steps: The first step is to consider the resistance of wind, waves and water flow, and to establish a kinematic model for amphibious vehicles with parallel underwater actuators on both sides for water navigation. The second step is to introduce intermediate variables and design the perturbation estimation variables and the update law for event-triggered perturbation estimation variables. The third step is to design the update law of intermediate variables, virtual control linear velocity, and virtual control angular velocity based on the kinematic model of the amphibious vehicle. The fourth step is to design PD controllers for the left and right actuators respectively, so that the linear velocity and angular velocity formed by the coupling of the propulsion speeds of the left and right actuators can track the virtual control linear velocity and virtual control angular velocity.
2. The amphibious vehicle waterborne automatic driving control method for resisting wind and wave disturbance as described in claim 1, characterized in that, In the first step, considering wind, waves, and water resistance, a kinematic model for water navigation is established for amphibious vehicles equipped with left and right parallel underwater actuators, specifically: in, and It is an amphibious vehicle in an inertial coordinate system direction and Directional location information, It is the yaw angle of the amphibious vehicle in the inertial coordinate system. and These are the linear velocity and angular velocity of the amphibious vehicle in the vehicle's coordinate system, where the vehicle's coordinate system... The axis points forward of the vehicle body; vehicle coordinate system The axis points to the left of the vehicle body; vehicle coordinate system Axis orientation and inertial coordinate system The axes point in the same direction. , and These are wind and waves and water flow. direction, Unknown linear and angular velocity disturbances caused by the direction and yaw angle.
3. The amphibious vehicle waterborne automatic driving control method for resisting wind and wave disturbance as described in claim 2, characterized in that, set up , , , , The initial values are respectively , , , , .
4. The amphibious vehicle waterborne automatic driving control method for resisting wind and wave disturbance as described in claim 3, characterized in that, In the second step, intermediate variables are introduced, and based on these, the update law for the perturbation estimation variables and the event-triggered perturbation estimation variables is designed. Specifically, this includes introducing intermediate variables. Based on this, the perturbation estimation variables were designed. , and and its event-triggered update law , and as follows; in, Indicates the number of trigger interval divisions. , , , , , , ... , ... , ... It is a positive update law parameter. , and It is the deviation of the update law constant. , ... , , ... , , ... It is a constant threshold parameter. , 。 5. The amphibious vehicle waterborne automatic driving control method for resisting wind and wave disturbance as described in claim 4, characterized in that, and It is a small positive number. , and It is a pre-planned amphibious vehicle trajectory; in addition, estimation variables are set. , and The initial value is , and .
6. The amphibious vehicle waterborne automatic driving control method for resisting wind and wave disturbance as described in claim 5, characterized in that, In the third step, based on the kinematic model of the amphibious vehicle, the update law of intermediate variables, virtual control linear velocity, and virtual control angular velocity are designed. Specifically, this includes: designing intermediate variables based on the kinematic model of the amphibious vehicle from the first step. Update law, virtual control linear velocity and virtual control angular velocity as follows: 。 7. The amphibious vehicle waterborne automatic driving control method for resisting wind and wave disturbance as described in claim 6, characterized in that, and It is a positive control parameter. , and This is the expected operating speed of the amphibious vehicle.
8. The amphibious vehicle waterborne automatic driving control method for resisting wind and wave disturbance as described in claim 7, characterized in that, In the fourth step, PD controllers are designed for the left and right actuators respectively, so that the linear velocity and angular velocity formed by the coupling of the propulsion speeds of the left and right actuators can track the virtual control linear velocity and virtual control angular velocity. Specifically: Step S1, calculate the virtual control linear velocity obtained in step three. and virtual control angular velocity The transformation is performed to obtain the desired propulsion speed for the left and right actuators. and ; in, It is half the straight-line distance between the two parallel actuators; Step S2: Design PD controllers for the left and right actuators respectively. and as follows: in, , , and These are the PD control parameters for the left and right actuators, respectively.
9. The amphibious vehicle waterborne automatic driving control method for resisting wind and wave disturbance as described in claim 8, characterized in that, The proposed method designs perturbation estimation variables that do not require additional hardware, making the proposed method universal.
10. The amphibious vehicle waterborne automatic driving control method for resisting wind and wave disturbance as described in claim 8, characterized in that, The method designs an event-triggered update law for the estimated variables, which can dynamically modify the estimation characteristics of the update law according to different disturbances, thereby improving the ability to compensate for time-varying disturbances.