Sea surface rescue steering control system and working method thereof

Abstract

The application is particularly a sea surface rescue steering control system and a working method thereof, which acquires a steering deviation through a processor module, judges a PID mode according to the steering deviation, matches a corresponding initial compensation angle according to the number of overmodulation when the PID is in an overmodulation mode, acquires a final compensation angle, calculates a proportional term and a differential term in real time according to the initial compensation angle or the final compensation angle to acquire an adjusted PID output, adjusts left and right motors of a rescue device according to the adjusted PID output, corrects the proportional term according to the number of critical overmodulation when the PID is in a critical overmodulation mode, acquires a corrected PID output according to the corrected proportional term, adjusts the left and right motors of the rescue device according to the corrected PID output, and thus accurate control of the rescue device is realized, so that the rescue device can accurately reach a person falling into water to rescue the person falling into water.

Description

Technical Field

[0001] This invention belongs to the technical field of ship-related equipment, specifically relating to water rescue, and particularly to a sea surface rescue steering control system and its working method. Background Technology

[0002] In water rescue scenarios, unmanned rescue equipment is used to approach and rescue the person in the water. This unmanned rescue equipment can be an unmanned lifebuoy, etc. As the unmanned lifebuoy approaches the person in the water, it continuously performs PID control to control its movement. Overshoot occurs because the PID control, in pursuit of rapid connection with the person in the water, results in parameter imbalance due to an excessively large proportional coefficient, cumulative lag in the integral term, and insufficient adaptation of the derivative term. This, combined with the inertia of the jet pump in the unmanned lifebuoy and the interference of the water environment such as water flow and waves, causes the system response speed to exceed the stability threshold, ultimately resulting in the actual course exceeding the target value and oscillating.

[0003] Its harm is directly manifested in two aspects. First, in the rescue end, it prevents unmanned lifebuoys from quickly and directly approaching the person in the water, prolonging rescue time, increasing the deviation in docking distance, and even causing them to be carried away from the rescue area by the current, significantly reducing the survival probability of the person in the water.

[0004] Secondly, on the equipment side, it triggers high-frequency power switching of the PID controller, causing the pump motor to overheat and overload, power attenuation, or even burn out the coil or run out of power, resulting in the interruption of rescue operations.

[0005] Therefore, due to the technical problem that PID overshoot can prevent rescue equipment from reaching people in the water or even damage the rescue equipment, it is necessary to design a new sea rescue steering control system and its working method.

[0006] It should be noted that the information disclosed in this background section is only for understanding the background technology of this application concept, and therefore, the above description is not considered to constitute prior art information. Summary of the Invention

[0007] This disclosure provides at least one maritime rescue steering control system and its operating method.

[0008] In a first aspect, embodiments of this disclosure provide a maritime rescue steering control system, comprising:

[0009] A processor module, electrically connected to an IMU, is configured to detect and acquire the actual steering angle of the rescue equipment via the IMU; the processor module is configured to build a PID model.

[0010] △u ( k )= K p· [ e ( k )- e ( k- 1)]+ K i ·e ( k )+ K d · [ e ( k )-2 e ( k- 1)+ e ( k-2 )];

[0011] in, △u ( k () represents the PID output; K p · [ e ( k )- e ( k- 1) is a proportional term; K i ·e ( k ) represents the integral term; K d · [ e ( k )-2 e ( k- 1)+ e ( k-2 [)] represents the differential term; e ( k () represents the steering deviation at time k, where steering deviation = target steering angle - actual steering angle; K p K i K d These are the coefficients corresponding to the proportional term, integral term, and differential term, respectively;

[0012] The processor module is also configured to acquire steering deviation, determine the PID mode based on the steering deviation, match the corresponding initial compensation angle based on the number of overshoots when the PID is in overshoot mode, acquire the final compensation angle, and then calculate the proportional and derivative terms in real time based on the initial or final compensation angle to obtain the adjusted PID output. The adjusted PID output is then used to adjust the left and right motors of the rescue equipment.

[0013] When the PID is in critical overshoot mode, the proportional term is corrected according to the number of critical overshoots. The corrected PID output is obtained based on the corrected proportional term. The left and right motors of the rescue equipment are adjusted according to the corrected PID output.

[0014] In one optional implementation, the method for determining the PID mode based on steering deviation includes:

[0015] The processor module is configured to continuously acquire steering deviation. When the absolute value of the difference between the actual steering angle and the target steering angle is less than or equal to a first threshold, the PID is in normal state. When the absolute value of the difference between the actual steering angle and the target steering angle is between the first threshold and the second threshold, the PID is in overshoot mode. When the absolute value of the difference between the actual steering angle and the target steering angle is greater than or equal to the second threshold, the PID is in critical overshoot mode.

[0016] In one optional implementation, the processor module is configured to acquire the number of overshoots per unit time when the PID is in overshoot mode, and match the corresponding initial compensation angle based on the number of overshoots.

[0017] When the number of overshoots is within the range of the first number of overshoots, the initial compensation angle is the first preset angle;

[0018] When the number of overshoots is within the range of the second number of overshoots, the initial compensation angle is the second preset angle;

[0019] When the number of overshoots exceeds the maximum value of the second overshoot range, the initial compensation angle is the third preset angle.

[0020] In one alternative implementation, the minimum value of the second overshoot range is greater than the maximum value of the first overshoot range;

[0021] The first preset angle is smaller than the second preset angle, and the second preset angle is smaller than the third preset angle.

[0022] In one optional implementation, the method for obtaining the final compensation angle includes:

[0023] The processor module is configured to acquire the current maximum operating power of the rescue equipment; if the current maximum operating power decreases by a percentage greater than or equal to a preset maximum percentage compared to the standard maximum operating power, then a preset increase angle is added to the initial compensation angle; and / or,

[0024] The processor module is also configured to obtain the distance between the rescue equipment and the person in distress, and if the distance is less than or equal to a preset distance, reduce the preset reduction angle on the initial compensation angle;

[0025] Finally, obtain the final compensation angle.

[0026] In one optional implementation, the method for obtaining the adjusted PID output includes:

[0027] The processor module is configured to calculate the proportional and derivative terms in real time based on the initial or final compensation angle. By replacing the target steering angle in the formula: target steering angle - actual steering angle, the integral term before triggering compensation is obtained. In overshoot mode, the adjusted PID output is the sum of the proportional and derivative terms calculated in real time based on the initial or final compensation angle and the integral term before triggering compensation.

[0028] In one optional implementation, the method for adjusting the left and right motors of the rescue equipment based on the adjusted PID output includes:

[0029] The processor module is configured to acquire the power of the left motor and the power of the right motor on the rescue equipment, and to control the corresponding left motor and right motor.

[0030] When the rescue equipment turns left, the power of the left motor is the base power minus the adjusted PID output, and the power of the right motor is the base power plus the adjusted PID output.

[0031] When the rescue equipment turns right, the power of the left motor is the base power plus the adjusted PID output, and the power of the right motor is the base power minus the adjusted PID output.

[0032] In one alternative implementation, the processor module is configured to obtain the number of critical overshoots per unit time in critical overshoot mode, and obtain the corresponding proportional term coefficient based on the number of critical overshoots.

[0033] When the critical overshoot number is within the range of the first critical overshoot number, obtain the corresponding first proportional term coefficient;

[0034] When the critical overshoot number is within the range of the second critical overshoot number, obtain the corresponding second proportional term coefficient;

[0035] When the critical overshoot number is within the range of the third critical overshoot number, obtain the corresponding third proportional term coefficient;

[0036] When the critical overshoot number is greater than the maximum value of the third critical overshoot number range, obtain the corresponding fourth proportional term coefficient;

[0037] The maximum value of the first critical overshoot range is less than the minimum value of the second critical overshoot range, and the maximum value of the second critical overshoot range is less than the minimum value of the third critical overshoot range.

[0038] In one optional implementation, the method of correcting the proportional term based on the number of critical overshoots when the PID is in critical overshoot mode, and obtaining the corrected PID output based on the corrected proportional term, includes:

[0039] The processor module is configured to calculate the proportional term in real time based on the initial compensation angle or the final compensation angle and multiply it by the corresponding proportional term coefficient, calculate the differential term in real time based on the initial compensation angle or the final compensation angle, and obtain the integral term before triggering compensation. Then, the corrected PID output in the critical overshoot mode is the sum of the proportional term calculated in real time based on the final compensation angle and multiplied by the corresponding proportional term coefficient, the differential term calculated in real time based on the final compensation angle, and the integral term before triggering compensation.

[0040] Secondly, this disclosure also provides a method for operating the above-described sea surface rescue steering control system, comprising:

[0041] The processor module acquires the steering deviation, determines the PID mode based on the deviation, and matches the corresponding initial compensation angle based on the number of overshoots when the PID is in overshoot mode. It also acquires the final compensation angle and calculates the proportional and derivative terms in real time based on the initial or final compensation angle to obtain the adjusted PID output. The left and right motors of the rescue equipment are then adjusted according to the adjusted PID output.

[0042] When the PID is in critical overshoot mode, the proportional term is corrected according to the number of critical overshoots. The corrected PID output is obtained based on the corrected proportional term. The left and right motors of the rescue equipment are adjusted according to the corrected PID output.

[0043] The beneficial effects of this invention are as follows: the maritime rescue steering control system obtains the steering deviation through the processor module, determines the PID mode based on the steering deviation, and matches the corresponding initial compensation angle based on the number of overshoots when the PID is in overshoot mode, and obtains the final compensation angle. Then, it calculates the proportional term and derivative term in real time based on the initial compensation angle or the final compensation angle to obtain the adjusted PID output. The left and right motors of the rescue equipment are adjusted based on the adjusted PID output. Furthermore, when the PID is in critical overshoot mode, the proportional term is corrected based on the number of critical overshoots, and the corrected PID output is obtained based on the corrected proportional term. The left and right motors of the rescue equipment are adjusted based on the corrected PID output, thereby achieving accurate control of the rescue equipment, enabling the rescue equipment to accurately reach the location of the person who has fallen into the water and rescue them.

[0044] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained through the structures particularly pointed out in the description and the drawings.

[0045] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0046] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0047] Figure 1 A flowchart illustrating the operation of a maritime rescue steering control system provided in this embodiment of the disclosure;

[0048] Figure 2 A schematic diagram of a PID mode provided in an embodiment of this disclosure;

[0049] Figure 3 A flowchart for obtaining the adjusted PID output is provided in an embodiment of this disclosure;

[0050] Figure 4 This is a flowchart of obtaining a corrected PID output provided in an embodiment of the present disclosure. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] As used herein, the phrases “in one embodiment,” “according to one embodiment,” “in some embodiments,” etc., generally refer to the fact that a particular feature, structure, or characteristic following the phrase can be included in at least one embodiment of this disclosure. Therefore, a particular feature, structure, or characteristic can be included in more than one embodiment of this disclosure, such that these phrases do not necessarily refer to the same embodiment. As used herein, the terms “example,” “exemplary,” etc., are used to “serve as an example, instance, or illustration.” Any implementation, aspect, or design described herein as “example” or “exemplary” is not necessarily to be construed as preferred or superior to other implementations, aspects, or designs. Rather, the use of the terms “example,” “exemplary,” etc., is intended to present concepts in a specific manner.

[0053] In water rescue scenarios, unmanned rescue equipment is used to approach and rescue people who have fallen into the water. This unmanned rescue equipment can be an unmanned lifebuoy, etc. As the unmanned lifebuoy approaches the person who has fallen into the water, it continuously performs PID adjustments. Overshoot occurs because the PID control, in pursuit of rapid connection with the person who has fallen into the water, results in parameter imbalance due to an excessively large proportional coefficient, cumulative lag in the integral term, and insufficient adaptation of the derivative term. This, combined with the inertia of the jet pump in the unmanned lifebuoy and the interference of the water environment such as water flow and waves, causes the system response speed to exceed the stability threshold, ultimately resulting in the actual course exceeding the target value and oscillating.

[0054] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0055] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0056] like Figure 1 As shown, at least one disclosed embodiment provides a sea rescue steering control system, including: a processor module electrically connected to an IMU to detect and obtain the actual steering angle of the rescue equipment via the IMU; the processor module is configured to construct a PID model:

[0057] △u ( k )= K p · [ e ( k )- e ( k- 1)]+ K i ·e ( k )+K d · [ e ( k )-2 e ( k- 1)+ e ( k-2 )];

[0058] in, △u ( k () represents the PID output; K p · [ e ( k )- e ( k- 1) is a proportional term; K i ·e ( k ) represents the integral term; K d · [ e ( k )-2 e ( k- 1)+ e ( k-2 [)] represents the differential term; e ( k () represents the steering deviation at time k, where steering deviation = target steering angle - actual steering angle; K p K i K d These are the coefficients corresponding to the proportional, integral, and derivative terms, respectively. The processor module is also configured to acquire steering deviation, determine the PID mode based on the steering deviation, and when the PID is in overshoot mode, match the corresponding initial compensation angle based on the number of overshoots, and acquire the final compensation angle. Then, it calculates the proportional and derivative terms in real time based on the initial or final compensation angle to obtain the adjusted PID output. The left and right motors of the rescue equipment are adjusted based on the adjusted PID output. Furthermore, when the PID is in critical overshoot mode, the proportional term is corrected based on the number of critical overshoots. The corrected PID output is obtained based on the corrected proportional term, and the left and right motors of the rescue equipment are adjusted based on the corrected PID output. This achieves accurate control of the rescue equipment, enabling it to accurately reach the location of the person who has fallen into the water and rescue them.

[0059] In this embodiment, the actual steering angle is obtained by an IMU, namely a nine-axis IMU (Inertial Measurement Unit), which can be MPU9250, ICM20948, or BMI088+AK09918 (high-performance model).

[0060] like Figure 2 As shown, in an optional implementation, the method for determining the PID mode based on steering deviation includes: the processor module is configured to continuously acquire steering deviation; when the absolute value of the difference between the actual steering angle and the target steering angle is less than or equal to a first threshold, the PID is in a normal state; when the absolute value of the difference between the actual steering angle and the target steering angle is between the first threshold and a second threshold, the PID is in an overshoot mode; and when the absolute value of the difference between the actual steering angle and the target steering angle is greater than or equal to the second threshold, the PID is in a critical overshoot mode.

[0061] In this embodiment, the first threshold and the second threshold can be obtained from historical experience in rescuing people who have fallen into the water; the first threshold can be 2 degrees.

[0062] In this embodiment, the processor module can store the number of overshoots and the time corresponding to each overshoot in an electrically connected storage module. Similarly, it can store the number of critical overshoots and the time corresponding to each critical overshoot in an electrically connected storage module. When it is necessary to obtain the number of overshoots or the number of critical overshoots, it can be obtained directly.

[0063] In this embodiment, the processor module can implement PID control.

[0064] In one optional implementation, the processor module is configured to, when the PID is in overshoot mode, acquire the number of overshoots per unit time and match the corresponding initial compensation angle based on the number of overshoots; when the number of overshoots is within a first overshoot range, the initial compensation angle is a first preset angle; when the number of overshoots is within a second overshoot range, the initial compensation angle is a second preset angle; when the number of overshoots is greater than the maximum value of the second overshoot range, the initial compensation angle is a third preset angle.

[0065] The simulated work scenario, based on historical experience, allows for a first overshoot range of 1-4 times and a second overshoot range of 5-10 times; the first preset angle can be preset to 30 degrees, the second preset angle can be preset to 60 degrees, and the third preset angle can be preset to 90 degrees.

[0066] In this embodiment, a small compensation force can be applied with an initial compensation angle of 30 degrees to suppress slight oscillations, a medium compensation force can be applied with an initial compensation angle of 60 degrees to balance speed and stability, and a large compensation force can be applied with an initial compensation angle of 90 degrees to quickly suppress violent oscillations.

[0067] In one optional implementation, the minimum value of the second overshoot range is greater than the maximum value of the first overshoot range; the first preset angle is less than the second preset angle, and the second preset angle is less than the third preset angle.

[0068] In one optional implementation, the method for obtaining the final compensation angle includes: the processor module is configured to obtain the current maximum operating power of the rescue equipment; if the current maximum operating power decreases by a percentage greater than or equal to a preset maximum percentage compared to the standard maximum operating power, then a preset increase angle is added to the initial compensation angle; and / or, the processor module is further configured to obtain the distance between the rescue equipment and the person in distress; if the distance is less than or equal to a preset distance, then a preset decrease angle is reduced to the initial compensation angle; and finally, the final compensation angle is obtained.

[0069] In one optional implementation of the experiment, the preset maximum ratio can be 20%, the preset increase angle can be 10 degrees, the preset decrease angle can be 15 degrees, and the preset distance can be 5m.

[0070] In one optional implementation during the experiment, when the current maximum operating power of the rescue equipment decreases by more than 20% compared to the standard maximum operating power, the insufficient power is compensated by increasing the angle by 10 degrees.

[0071] In one optional implementation during the experiment, when the distance between the rescue equipment and the person in distress is less than 5m, the angle is reduced by 15 degrees to avoid overcorrecting and overshooting the target.

[0072] like Figure 3 As shown, in an optional implementation, the method for obtaining the adjusted PID output includes: the processor module is configured to calculate the proportional term and the derivative term in real time based on the initial compensation angle or the final compensation angle, and obtain the integral term before triggering compensation by replacing the target steering angle in the formula: target steering angle - actual steering angle with the initial compensation angle or the final compensation angle. Then, the adjusted PID output in overshoot mode is the sum of the proportional term and the derivative term calculated in real time based on the initial compensation angle or the final compensation angle and the integral term before triggering compensation.

[0073] In this embodiment, the proportional term is calculated in real time based on the initial angle or the final compensation angle to adapt to the current deviation in real time, and the force is accurate after recovery; the differential term is calculated in real time based on the initial angle or the final compensation angle to predict the trend of change in real time, and overshoot is avoided after recovery; the integral term before triggering compensation is obtained to avoid the accumulation of historical deviations, and the force will not be "too strong" after recovery. This avoids the lifebuoy being unable to quickly and straight approach the person in the water in the overshoot mode, avoids prolonging the rescue time and increasing the docking distance deviation, avoids being carried away from the rescue area by the water flow, and improves the survival probability of the person in the water.

[0074] In this embodiment, the integral term before compensation is triggered is the integral term value of the last normal state PID adjustment before the current overshoot mode or critical overshoot mode.

[0075] In this embodiment, after entering the overshoot mode, the initial angle or the final compensation angle is determined, and then the proportional term and the derivative term are calculated respectively. The integral term is the integral term before triggering compensation, and then the adjusted PID output is obtained by the sum of the three.

[0076] In this embodiment, after entering the critical overshoot mode, the initial angle or the final compensation angle is determined, and then the proportional term and the derivative term are calculated respectively. The proportional term is multiplied by the corresponding proportional term coefficient, and the integral term is the integral term before triggering compensation. Then, the corrected PID output is obtained by summing the three terms.

[0077] In one optional implementation, the method for adjusting the left and right motors of the rescue equipment based on the adjusted PID output includes: the processor module is configured to acquire the power of the left motor and the power of the right motor on the rescue equipment, and control the corresponding left and right motors; when the rescue equipment turns left, the power of the left motor is the base power minus the adjusted PID output, and the power of the right motor is the base power plus the adjusted PID output; when the rescue equipment turns right, the power of the left motor is the base power plus the adjusted PID output, and the power of the right motor is the base power minus the adjusted PID output; a power difference between the left and right sides is formed to achieve left or right turn, and the magnitude of the correction determines the steering force to ensure smooth and coordinated steering.

[0078] like Figure 4 As shown, in one optional implementation, the processor module is configured to acquire the number of critical overshoots per unit time in critical overshoot mode, and acquire the corresponding proportional coefficient based on the number of critical overshoots; when the number of critical overshoots is within a first critical overshoot range, acquire the corresponding first proportional coefficient; when the number of critical overshoots is within a second critical overshoot range, acquire the corresponding second proportional coefficient; when the number of critical overshoots is within a third critical overshoot range, acquire the corresponding third proportional coefficient; when the number of critical overshoots is greater than the maximum value of the third critical overshoot range, acquire the corresponding fourth proportional coefficient; the maximum value of the first critical overshoot range is less than the minimum value of the second critical overshoot range, and the maximum value of the second critical overshoot range is less than the minimum value of the third critical overshoot range.

[0079] In this embodiment, based on historical experience, the first critical overshoot number range can be 1-3 times, and the corresponding first proportional term coefficient can be 0.9; the second critical overshoot number range can be 4-6 times, and the corresponding first proportional term coefficient can be 0.8; the third critical overshoot number range can be 7-9 times, and the corresponding third proportional term coefficient can be 0.6; when the critical overshoot number is greater than 9 times, the corresponding fourth proportional term coefficient can be 0.5.

[0080] In this embodiment, the proportional term P outputs a correction force based on the real-time deviation between the current heading and the target direction; the larger the deviation, the stronger the correction. Its main function is to enable the system to respond quickly and align with the target rapidly. The integral term I accumulates the heading deviation over a period of time to eliminate continuous and slow deviations caused by water currents, waves, etc., ensuring that the lifebuoy is not slowly drifted off course in complex waters and improving long-term heading stability. The derivative term D predictively adjusts based on the rate of change of the heading deviation, reducing the correction force in advance. It acts as a buffer, brake, and prevents overshooting, making the turn smoother and reducing swaying.

[0081] In one optional implementation, the method of correcting the proportional term based on the number of critical overshoots when the PID is in critical overshoot mode, and obtaining the corrected PID output based on the corrected proportional term, includes:

[0082] The processor module is configured to calculate the proportional term in real time based on the initial compensation angle or the final compensation angle and multiply it by the corresponding proportional term coefficient, calculate the differential term in real time based on the initial compensation angle or the final compensation angle, and obtain the integral term before triggering compensation. Then, the corrected PID output in the critical overshoot mode is the sum of the proportional term calculated in real time based on the final compensation angle and multiplied by the corresponding proportional term coefficient, the differential term calculated in real time based on the final compensation angle, and the integral term before triggering compensation.

[0083] In this embodiment, the corrected proportional term is calculated in real time based on the initial compensation angle or the final compensation angle and multiplied by the corresponding proportional term coefficient.

[0084] In this embodiment, under critical overshoot conditions, the PID correction action approaches the threshold and the frequency increases, causing the motor (injector pump motor) to exhibit frequent small-amplitude commutation. If not suppressed in time, it can easily develop into oscillating overshoot, exacerbating motor heating and structural wear, and even triggering overheat protection, affecting equipment reliability and rescue continuity. The root cause of critical overshoot is that the proportional term correction is too aggressive, the integral term lags, and the derivative term is prone to jitter. Therefore, in critical overshoot mode, by increasing the corresponding proportional term coefficient, the proportional term can be reduced in real time, safely, and effectively, reducing the force, frequency, and preventing overshoot.

[0085] In this embodiment, the left motor on the rescue device can be the spray pump motor located on the left side of the lifebuoy, and the right motor can be the spray pump motor located on the right side; both spray pump motors are controlled by the processor module.

[0086] In this embodiment, the method for adjusting the left and right motors of the rescue equipment based on the corrected PID output includes: the processor module is configured to acquire the power of the left motor and the power of the right motor on the rescue equipment, and control the corresponding left and right motors; when the rescue equipment turns left, the power of the left motor is the base power minus the corrected PID output, and the power of the right motor is the base power plus the corrected PID output; when the rescue equipment turns right, the power of the left motor is the base power plus the corrected PID output, and the power of the right motor is the base power minus the corrected PID output.

[0087] At least one other disclosed embodiment also provides a method for operating the above-described maritime rescue steering control system, comprising: acquiring steering deviation through a processor module; determining the PID mode based on the steering deviation; matching the corresponding initial compensation angle based on the number of overshoots when the PID is in overshoot mode; acquiring the final compensation angle; calculating the proportional term and derivative term in real time based on the initial compensation angle or the final compensation angle to obtain the adjusted PID output; adjusting the left and right motors of the rescue equipment based on the adjusted PID output; and correcting the proportional term based on the number of critical overshoots when the PID is in critical overshoot mode; acquiring the corrected PID output based on the corrected proportional term; and adjusting the left and right motors of the rescue equipment based on the corrected PID output.

[0088] In summary, this maritime rescue steering control system acquires steering deviation through a processor module, determines the PID mode based on the deviation, and matches the corresponding initial compensation angle based on the number of overshoots when the PID is in overshoot mode, as well as obtaining the final compensation angle. Then, it calculates the proportional and derivative terms in real time based on the initial or final compensation angle to obtain the adjusted PID output. The system then adjusts the left and right motors of the rescue equipment based on the adjusted PID output. Furthermore, when the PID is in critical overshoot mode, it corrects the proportional term based on the number of critical overshoots, obtains the corrected PID output based on the corrected proportional term, and adjusts the left and right motors of the rescue equipment based on the corrected PID output. This achieves accurate control of the rescue equipment, enabling it to accurately reach the location of the person in the water for rescue.

[0089] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A sea surface rescue steering control system, characterized in that, include: A processor module electrically connected to an IMU to detect and obtain the actual turning angle of the rescue equipment through the IMU; The processor module is configured to build a PID model: △u ( k )= K p · [ e （ k ）- e （ k- 1）]+ K i ·e （ k ）+ K d · [ e （ k ）-2 e （ k- 1）+ e （ k-2 ）]； in, △u ( k () represents the PID output; K p · [ e ( k )- e ( k- 1) is a proportional term; K i ·e ( k ) represents the integral term; K d · [ e ( k )-2 e ( k- 1)+ e ( k-2 [)] represents the differential term; e ( k Let be the steering deviation at time k, where steering deviation = target steering angle - actual steering angle; and, K p K i K d These are the coefficients corresponding to the proportional term, integral term, and differential term, respectively. The processor module is also configured to acquire steering deviation, determine the PID mode based on the steering deviation, match the corresponding initial compensation angle based on the number of overshoots when the PID is in overshoot mode, acquire the final compensation angle, and then calculate the proportional and derivative terms in real time based on the initial or final compensation angle to obtain the adjusted PID output. The adjusted PID output is then used to adjust the left and right motors of the rescue equipment. When the PID is in critical overshoot mode, the proportional term is corrected according to the number of critical overshoots, the corrected PID output is obtained according to the corrected proportional term, and the left and right motors of the rescue equipment are adjusted according to the corrected PID output. The method for determining the PID mode based on steering deviation includes: The processor module is configured to continuously acquire steering deviation. When the absolute value of the difference between the actual steering angle and the target steering angle is less than or equal to a first threshold, the PID is in normal state. When the absolute value of the difference between the actual steering angle and the target steering angle is between the first threshold and the second threshold, the PID is in overshoot mode. When the absolute value of the difference between the actual steering angle and the target steering angle is greater than or equal to the second threshold, the PID is in critical overshoot mode.

2. The maritime rescue steering control system as described in claim 1, characterized in that, The processor module is configured to obtain the number of overshoots per unit time when the PID is in overshoot mode, and match the corresponding initial compensation angle according to the number of overshoots. When the number of overshoots is within the range of the first number of overshoots, the initial compensation angle is the first preset angle; When the number of overshoots is within the range of the second number of overshoots, the initial compensation angle is the second preset angle; When the number of overshoots exceeds the maximum value of the second overshoot range, the initial compensation angle is the third preset angle.

3. The maritime rescue steering control system as described in claim 2, characterized in that, The minimum value of the second overshoot range is greater than the maximum value of the first overshoot range; The first preset angle is smaller than the second preset angle, and the second preset angle is smaller than the third preset angle.

4. The maritime rescue steering control system as described in claim 3, characterized in that, The method for obtaining the final compensation angle includes: The processor module is configured to acquire the current maximum operating power of the rescue equipment; if the current maximum operating power decreases by a percentage greater than or equal to a preset maximum percentage compared to the standard maximum operating power, then a preset increase angle is added to the initial compensation angle; and / or, The processor module is also configured to obtain the distance between the rescue equipment and the person in distress, and if the distance is less than or equal to a preset distance, reduce the preset reduction angle on the initial compensation angle; Finally, obtain the final compensation angle.

5. The maritime rescue steering control system as described in claim 4, characterized in that, The method for obtaining the adjusted PID output includes: The processor module is configured to calculate the proportional and derivative terms in real time based on the initial or final compensation angle. By replacing the target steering angle in the formula: target steering angle - actual steering angle, the integral term before triggering compensation is obtained. In overshoot mode, the adjusted PID output is the sum of the proportional and derivative terms calculated in real time based on the initial or final compensation angle and the integral term before triggering compensation.

6. The maritime rescue steering control system as described in claim 5, characterized in that, The method for adjusting the left and right motors of the rescue equipment based on the adjusted PID output includes: The processor module is configured to acquire the power of the left motor and the power of the right motor on the rescue equipment, and to control the corresponding left motor and right motor. When the rescue equipment turns left, the power of the left motor is the base power minus the adjusted PID output, and the power of the right motor is the base power plus the adjusted PID output. When the rescue equipment turns right, the power of the left motor is the base power plus the adjusted PID output, and the power of the right motor is the base power minus the adjusted PID output.

7. The maritime rescue steering control system as described in claim 5, characterized in that, The processor module is configured to obtain the number of critical overshoots per unit time in critical overshoot mode, and obtain the corresponding proportional term coefficient based on the number of critical overshoots. When the critical overshoot number is within the range of the first critical overshoot number, obtain the corresponding first proportional term coefficient; When the critical overshoot number is within the range of the second critical overshoot number, obtain the corresponding second proportional term coefficient; When the critical overshoot number is within the range of the third critical overshoot number, obtain the corresponding third proportional term coefficient; When the critical overshoot number is greater than the maximum value of the third critical overshoot number range, obtain the corresponding fourth proportional term coefficient; The maximum value of the first critical overshoot range is less than the minimum value of the second critical overshoot range, and the maximum value of the second critical overshoot range is less than the minimum value of the third critical overshoot range.

8. The maritime rescue steering control system as described in claim 7, characterized in that, The method for correcting the proportional term based on the number of critical overshoots when the PID is in critical overshoot mode, and obtaining the corrected PID output based on the corrected proportional term, includes: The processor module is configured to calculate the proportional term in real time based on the initial compensation angle or the final compensation angle and multiply it by the corresponding proportional term coefficient, calculate the differential term in real time based on the initial compensation angle or the final compensation angle, and obtain the integral term before triggering compensation. Then, the corrected PID output in the critical overshoot mode is the sum of the proportional term calculated in real time based on the final compensation angle and multiplied by the corresponding proportional term coefficient, the differential term calculated in real time based on the final compensation angle, and the integral term before triggering compensation.

9. A method for operating a sea surface rescue steering control system as described in claim 1, characterized in that, include: The steering deviation is obtained through the processor module. The PID mode is determined based on the steering deviation. When the PID is in overshoot mode, the corresponding initial compensation angle is matched according to the number of overshoots, and the final compensation angle is obtained. The proportional term and derivative term are calculated in real time based on the initial compensation angle or the final compensation angle to obtain the adjusted PID output. The left and right motors of the rescue equipment are adjusted according to the adjusted PID output. as well as When the PID is in critical overshoot mode, the proportional term is corrected according to the number of critical overshoots. The corrected PID output is obtained based on the corrected proportional term. The left and right motors of the rescue equipment are adjusted according to the corrected PID output.

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