Anti-interference fault-tolerant control method for trajectory tracking of marine spaceflight launch and recovery ship
By designing interference observers and fault observers, and combining the linear matrix inequality algorithm to optimize the gain matrix, the problems of unknown external interference and thruster failure in the trajectory tracking of ships for maritime aerospace launch and recovery were solved, realizing composite anti-interference fault-tolerant control, improving control reliability and reducing costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- LUDONG UNIVERSITY
- Filing Date
- 2023-04-18
- Publication Date
- 2026-04-17
AI Technical Summary
Existing technologies have failed to effectively address the problems of unknown external marine environmental interference and thruster failures in the trajectory tracking of ships used for space launch and recovery at sea. This results in the control force and torque being affected, making it difficult to achieve composite anti-interference and fault-tolerant control. Furthermore, the cost is high and it is not easy to implement in engineering.
The design incorporates interference and fault observers to estimate and counteract time-varying environmental interference and propulsion faults in the trajectory tracking of ships used for space launch and recovery at sea. By combining linear matrix inequality algorithms to optimize the gain matrix, a composite anti-interference fault-tolerant controller is established to achieve online estimation and compensation for unknown external interference and faults.
It effectively enhances the anti-interference capability of marine space launch and recovery vessels, improves control reliability, reduces actual performance requirements, is easy to implement in engineering, and ensures that the tracking position achieves the expected results.
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Figure CN121879334A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of anti-interference and fault-tolerant control technology for trajectory tracking of marine aerospace launch and recovery vessels, specifically relating to an anti-interference and fault-tolerant control method for trajectory tracking of marine aerospace launch and recovery vessels. Background Technology
[0002] Currently, composite anti-interference and fault-tolerant control for trajectory tracking of marine space launch and recovery vessels is gradually becoming a research hotspot. The maneuvering operations of marine space launch and recovery vessels and the surrounding marine environment are subject to frequent changes, resulting in significant uncertainties in the external environmental disturbances experienced by these vessels. Furthermore, propeller malfunctions are unavoidable during navigation, affecting the control forces and torques provided to these vessels. The trajectory tracking control problem for marine space launch and recovery vessels is a challenging and complex problem involving uncertain nonlinear systems. Conducting research on trajectory tracking control for marine space launch and recovery vessels has significant theoretical and practical application value.
[0003] Existing research methods largely assume that the trajectory tracking control system for marine space launch and recovery vessels is free from external interference or that the interference frequency is known, and do not consider the possibility of thruster failures in the system control. However, in practical engineering applications, the tracking control system for marine space launch and recovery vessels is frequently subjected to interference from the external marine environment during operation, and thruster failures are inevitable. In addition, existing technologies consider relatively few practical performance requirements for composite anti-interference and fault-tolerant control of trajectory tracking for marine space launch and recovery vessels, resulting in high costs and difficulty in engineering implementation.
[0004] Therefore, how to achieve a composite anti-interference and fault-tolerant control design for tracking the trajectory of ships used for marine space launch and recovery, under the conditions of considering unknown external marine environmental interference and propulsion failure, has become an urgent problem to be solved. Summary of the Invention
[0005] The purpose of this invention is to address the shortcomings of the aforementioned technologies by proposing an anti-interference and fault-tolerant control method for tracking the trajectory of marine space launch and recovery vessels, aiming to solve the problem of existing composite anti-interference and fault-tolerant control for tracking the trajectory of marine space launch and recovery vessels.
[0006] This invention provides an anti-interference and fault-tolerant control method for tracking the trajectory of ships used in marine space launch and recovery operations. The method includes the following steps:
[0007] S1: Based on the position and heading angle information of the trajectory tracking of marine space launch and recovery vessels in the geodetic coordinate system, and the corresponding velocity information in the appendage coordinate system of the marine space launch and recovery vessels, a kinematic model for the trajectory tracking of marine space launch and recovery vessels is established.
[0008] S2: Considering the wind, waves, currents, and unmodeled dynamic time-varying environmental disturbances in the marine environment where the space launch and recovery vessel is maneuvering and operating, and also considering the possible propulsion failures that may occur during the navigation of the space launch and recovery vessel, establish a dynamic model for the trajectory tracking of the space launch and recovery vessel.
[0009] S3: Design an interference observer to estimate and counteract time-varying environmental interference in the trajectory tracking of marine space launch and recovery vessels; design a fault observer to estimate and compensate for faults occurring in the propulsion systems of marine space launch and recovery vessels.
[0010] S4: Design a composite anti-interference fault-tolerant controller based on interference observer and fault observer;
[0011] S5: Using the linear matrix inequality algorithm, solve the gain matrix in the composite anti-interference fault-tolerant controller for tracking the trajectory of marine aerospace launch and recovery vessels, and the observation gain matrix in the interference observer and fault observer, so as to achieve the expected value for tracking the trajectory of marine aerospace launch and recovery vessels.
[0012] The kinematic model of the ship's nonlinear motion in step S1 is specifically described as follows:
[0013]
[0014]
[0015] In formulas (1) and (2), η = [x, y, ψ] T The position vector in the northeast coordinate system is composed of the ship's actual position (x, y) and heading angle ψ; υ = [u, v, r] T The velocity vector in the attached coordinate system is composed of the ship's forward velocity u, lateral drift velocity v, and bow roll angular velocity r; J(ψ) is defined as the rotation matrix, representing the rotation matrix from the attached coordinate system to the northeast coordinate system.
[0016] Furthermore, the dynamic model for tracking the trajectory of the space launch and recovery vessel in step 2 is as follows:
[0017]
[0018] In equation (3), M is the inertia matrix including the added mass; C(v) is the Coriolis centripetal force matrix; D(v) is the damping matrix; τ is the control vector provided by the thruster; d(t) = [d1(t), d2(t), d3(t)] T The equivalent time-varying force and moment vectors of marine environmental disturbances such as wind, waves, and currents on the ship hull; ω(t)=[ω1(t),ω2(t),ω3(t)] T The equivalent time-varying force and moment vector on the hull when the propulsion of a marine space launch and recovery vessel fails.
[0019] Furthermore, the control vector τ = [τ1, τ2, τ3] T It consists of the sway control force τ1, the sway control force τ2, and the yaw control torque τ3.
[0020] Furthermore, the inertia matrix M is:
[0021]
[0022] In equation (4), m is the mass of the sea-based space launch and recovery vessel; The additional mass caused by the motion of ships used for space launch and recovery at sea; I z x is the moment of inertia. G This is the distance between the ship's center and the origin of the established coordinate system.
[0023] Furthermore, the damping matrix D(v) is:
[0024]
[0025] In equation (5), u is the velocity vector used by the ship for launching and recovering spacecraft at sea; X u ,Y υ ,Y r N υ N r Both are damping coefficients.
[0026] Furthermore, the specific design process of the interference observer and fault observer in step S3 is as follows:
[0027] Based on the unknown interference vector d(t) in equations (1) and (3), the following interference observer is designed:
[0028]
[0029] In equation (6), Let K0 ∈ R be the estimated value of the disturbance. 3×3 Let β be the gain matrix of the interference observer, β∈R 3 is the auxiliary intermediate vector generated by equation (6).
[0030] Furthermore, the estimation error vector of the disturbance observer is defined as follows:
[0031]
[0032] Furthermore, the malfunctions experienced by sea-based space launch and recovery vessels can be represented as: Where θ is a known matrix and ε(t) is a bounded vector; for the propulsion failure of a marine space launch and recovery vessel, a fault observer is designed to estimate the fault, and the estimated value is used in the controller to cancel the fault. The designed fault observer is as follows:
[0033]
[0034] In equation (7), The fault is an estimated value, K3∈R 3×3 Let R be the gain matrix of the fault observer, q∈R 3 is the auxiliary intermediate vector generated by equation (7).
[0035] Furthermore, the specific design process of the composite anti-interference fault-tolerant controller in step S4 is as follows:
[0036] Based on the interference observer and fault observer, the following composite anti-interference fault-tolerant controller is designed:
[0037]
[0038] In formula (8), z1=η-η d Z2 = ν - α1 represents the position error of the space launch and recovery vessel at sea; Z2 = ν - α1 represents the velocity vector error of the space launch and recovery vessel at sea; K2 = K2 T ∈R 3×3 To design the controller gain matrix; α1∈R 3 This is a virtual function vector.
[0039] Furthermore, after obtaining the composite anti-interference fault-tolerant controller in steps S4 and S5, the method further includes:
[0040] S6: Using the linear matrix inequality algorithm, adjust the gain matrices K0 and K3 of the interference observer and the fault observer to ensure that the tracking performance and convergence speed of the interference observer and the fault observer meet the set requirements; where K0∈R 3×3 K3 ∈ R is the positive definite symmetric interference observer gain matrix. 3×3 It is the positive definite symmetric fault observer gain matrix;
[0041] S7: Using the linear matrix inequality algorithm, adjust the gain matrices K1 and K2 of the composite anti-interference fault-tolerant controller to achieve arbitrary desired accuracy in the trajectory tracking error of the space launch and recovery vessel; where K1 = K1 T ∈R 3×3 K2 = K2 T ∈R 3×3 To design the controller gain matrix.
[0042] The fault-tolerant and interference-resistant method for tracking the trajectory of ships used in marine aerospace launch and recovery provided by this invention has the following beneficial effects:
[0043] First, this invention provides an anti-interference and fault-tolerant control method for tracking the trajectory of marine space launch and recovery vessels. Specifically addressing the trajectory tracking of marine space launch and recovery vessels, it utilizes interference observers and fault observers to solve the problems of online estimation and suppression of unknown external marine environmental interference and estimation and compensation for propulsion failures in marine space launch and recovery vessels. Furthermore, it effectively enhances the anti-interference capability of marine space launch and recovery vessels and improves the reliability of their control, ensuring that the tracking position of marine space launch and recovery vessels achieves the expected results, thus addressing the problem of correcting tracking feedback control errors.
[0044] Secondly, this invention provides an anti-interference and fault-tolerant control method for tracking the trajectory of ships used for space launch and recovery at sea. It takes into account the actual performance of the composite anti-interference and fault-tolerant control for tracking the trajectory of ships used for space launch and recovery at sea, has low cost, and is easy to implement in engineering. Attached Figure Description
[0045] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.
[0046] The present invention will be further described below with reference to the accompanying drawings:
[0047] Figure 1 The flowchart shows an anti-interference and fault-tolerant control method for tracking the trajectory of a marine aerospace launch and recovery vessel according to the present invention.
[0048] Figure 2 The tracking diagram of the launch and recovery vessel trajectory provided in this embodiment of the invention;
[0049] Figure 3 The position tracking diagram of the space launch and recovery vessel provided in this embodiment of the invention;
[0050] Figure 4 Speed tracking diagram of marine space launch and recovery vessels provided for embodiments of the present invention;
[0051] Figure 5Anti-interference diagram for tracking the trajectory of ships used for space launch and recovery at sea, provided in an embodiment of the present invention;
[0052] Figure 6 This invention provides a fault diagram for tracking the trajectory of a space launch and recovery vessel during maritime spaceflight.
[0053] Figure 7 The trajectory tracking and control rate diagram of the marine space launch and recovery vessel provided in the embodiments of the present invention. Detailed Implementation
[0054] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.
[0055] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.
[0056] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.
[0057] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.
[0058] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0059] like Figure 1 As shown, this invention provides an anti-interference and fault-tolerant control method for tracking the trajectory of ships used for maritime space launch and recovery. The method includes the following processes:
[0060] S1: Based on the position and heading angle information of the trajectory tracking of marine space launch and recovery vessels in the geodetic coordinate system, and the corresponding velocity information in the appendage coordinate system of the marine space launch and recovery vessels, a kinematic model for the trajectory tracking of marine space launch and recovery vessels is established.
[0061] S2: Considering the wind, waves, currents, and unmodeled dynamic time-varying environmental disturbances in the marine environment where the space launch and recovery vessel is maneuvering and operating, and also considering the possible propulsion failures that may occur during the navigation of the space launch and recovery vessel, establish a dynamic model for the trajectory tracking of the space launch and recovery vessel.
[0062] S3: Design an interference observer to estimate and counteract time-varying environmental interference in the trajectory tracking of marine space launch and recovery vessels; design a fault observer to estimate and compensate for faults occurring in the propulsion systems of marine space launch and recovery vessels.
[0063] S4: Design a composite anti-interference fault-tolerant controller based on interference observer and fault observer;
[0064] S5: Using the linear matrix inequality algorithm, solve the gain matrix in the composite anti-interference fault-tolerant controller for tracking the trajectory of marine aerospace launch and recovery vessels and the observation gain matrix in the interference observer and fault observer, thereby achieving the expected value for tracking the trajectory of marine aerospace launch and recovery vessels.
[0065] This invention provides an anti-interference and fault-tolerant control method for trajectory tracking of marine space launch and recovery vessels. It considers trajectory tracking of marine space launch and recovery vessels under conditions of unknown external marine environmental interference and propeller malfunction. By employing interference and fault observers, it addresses the problems of online estimation and suppression of unknown external marine environmental interference during trajectory tracking, and estimation and compensation for propeller malfunctions. Furthermore, by utilizing a composite anti-interference and fault-tolerant controller to correct tracking feedback control errors, it effectively enhances the anti-interference capability of marine space launch and recovery vessels, improves the reliability of control, and ensures that the tracking position of the vessels achieves the expected results. The designed model is structurally simple, thus effectively reducing model complexity and computational load in the control process.
[0066] Preferably, in conjunction with the above scheme, the kinematic model of the ship's nonlinear motion in step S1 is specifically described as follows:
[0067]
[0068]
[0069] In formulas (1) and (2), η = [x, y, ψ] T The position vector in the northeast coordinate system is composed of the ship's actual position (x, y) and heading angle ψ; υ = [u, v, r] T The velocity vector in the attached coordinate system is composed of the ship's forward velocity u, lateral drift velocity v, and bow roll angular velocity r; J(ψ) is defined as the rotation matrix, representing the rotation matrix from the attached coordinate system to the northeast coordinate system.
[0070] Preferably, in conjunction with the above scheme, the dynamic model for tracking the trajectory of the space launch and recovery vessel in step 2 is as follows:
[0071]
[0072] In equation (3), M is the inertia matrix including the added mass; C(v) is the Coriolis centripetal force matrix; D(v) is the damping matrix; τ is the control vector provided by the thruster; d(t) = [d1(t), d2(t), d3(t)] T The equivalent time-varying force and moment vectors of marine environmental disturbances such as wind, waves, and currents on the ship hull; ω(t)=[ω1(t),ω2(t),ω3(t)] T The equivalent time-varying force and moment vector on the hull when the propulsion of a marine space launch and recovery vessel fails.
[0073] Preferably, in conjunction with the above scheme, the control vector τ = [τ1, τ2, τ3] T It consists of the sway control force τ1, the sway control force τ2, and the yaw control torque τ3.
[0074] Furthermore, the inertia matrix M is:
[0075]
[0076] In equation (4), m is the mass of the sea-based space launch and recovery vessel; The additional mass caused by the motion of ships used for space launch and recovery at sea; I z x is the moment of inertia. G This is the distance between the ship's center and the origin of the established coordinate system.
[0077] Preferably, in combination with the above scheme, the damping matrix D(v) is:
[0078]
[0079] In equation (5), u is the velocity vector used by the ship for launching and recovering spacecraft at sea; X u ,Y υ ,Y r N υ N r Both are damping coefficients.
[0080] Preferably, in conjunction with the above scheme, the specific design process of the interference observer and fault observer in step S3 is as follows:
[0081] Based on the unknown interference vector d(t) in equations (1) and (3), the following interference observer is designed:
[0082]
[0083] In equation (6), Let K0 ∈ R be the estimated value of the disturbance. 3×3 Let β be the gain matrix of the interference observer, β∈R 3 is the auxiliary intermediate vector generated by equation (6).
[0084] Preferably, combining the above scheme, the estimation error vector of the interference observer is defined as follows:
[0085]
[0086] Preferably, combining the above schemes, the faults experienced by sea-based space launch and recovery vessels can be expressed as follows: Where θ is a known matrix and ε(t) is a bounded vector; for the propulsion failure of a marine space launch and recovery vessel, a fault observer is designed to estimate the fault, and the estimated value is used in the controller to cancel the fault. The designed fault observer is as follows:
[0087]
[0088] In equation (7), The fault is an estimated value, K3∈R 3×3 Let R be the gain matrix of the fault observer, q∈R 3 is the auxiliary intermediate vector generated by equation (7).
[0089] Preferably, combining the above scheme, the fault observer estimation error vector is defined as follows:
[0090] Preferably, a composite anti-interference fault-tolerant controller is designed based on an interference observer and a fault observer. The specific process is as follows:
[0091] Let the positional error between the launch and recovery vessels at sea be z1 = η - η d By differentiating the error between positions, we can obtain:
[0092]
[0093] Define a virtual function vector α1∈R 3 as follows:
[0094]
[0095] In the above formula, the parameter matrix K2 = K2 T ∈R 3×3 It is positive definite;
[0096] Let the velocity vector error between the launch and recovery ships at sea be z2=ν-α1, then equation (10) can be expressed as:
[0097]
[0098] Next, construct the constructor. Taking the derivative of this yields...
[0099]
[0100] Differentiating the velocity vector error gives:
[0101]
[0102] Next, we select the augmented Lyapunov function. Then the derivative of the function is:
[0103]
[0104] Preferably, in conjunction with the above scheme, the specific design process of the composite anti-interference fault-tolerant controller in step S4 is as follows:
[0105] Based on the interference observer and fault observer, the following composite anti-interference fault-tolerant controller is designed:
[0106]
[0107] In formula (8), z1=η-η d Z2 = ν - α1 represents the position error of the space launch and recovery vessel at sea; Z2 = ν - α1 represents the velocity vector error of the space launch and recovery vessel at sea; K2 = K2 T ∈R 3×3 To design the controller gain matrix; α1∈R 3 This is a virtual function vector.
[0108] Preferably, in conjunction with the above scheme, after obtaining the composite anti-interference fault-tolerant controller in steps S4 and S5, the method further includes:
[0109] S6: Using the linear matrix inequality algorithm, adjust the gain matrices K0 and K3 of the interference observer and the fault observer to ensure that the tracking performance and convergence speed of the interference observer and the fault observer meet the set requirements; where K0∈R 3×3 K3 ∈ R is the positive definite symmetric interference observer gain matrix. 3×3 It is the positive definite symmetric fault observer gain matrix;
[0110] S7: Using the linear matrix inequality algorithm, adjust the gain matrices K1 and K2 of the composite anti-interference fault-tolerant controller to achieve arbitrary desired accuracy in the trajectory tracking error of the space launch and recovery vessel; where K1 = K1 T ∈R 3×3 K2 = K2 T ∈R 3×3 To design the controller gain matrix.
[0111] To verify the performance of the designed composite anti-interference fault-tolerant controller for tracking the trajectory of marine space launch and recovery vessels, a 1:70 scale model ship CyberShip II (an experimental ship scaled down from the supply ship, with a length of 1.3m) was used as the research object. The dynamic parameters of this ship are as follows:
[0112]
[0113]
[0114]
[0115] Setting the desired trajectory η of a sea-based space launch and recovery vessel d =[x d ,y d ,ψ d ] T For: x d =4sin(0.02t);
[0116] y d = 2.5[1-cos(0.02t)];
[0117] ψ d =0.02t;
[0118] Let the vector of external marine environmental disturbance experienced by a sea-based space launch and recovery vessel be:
[0119]
[0120] Let the propulsion failure vector of a sea-based space launch and recovery vessel during navigation be:
[0121]
[0122] Assume the initial state of the sea-based space launch and recovery vessel is as follows: υ0=[0m / s,0m / s,0rad / s] T .
[0123] Take the gain parameter K0 = diag([25,25,25]) in the interference observer, the gain parameter K3 = diag([5,5,5]) in the fault observer, and the gain parameters K1 = diag([1.5,1.5,1.5]) and K2 = diag([50,50,50]) in the composite anti-interference fault-tolerant controller.
[0124] To verify the effectiveness of the method of the present invention, simulation experiments were conducted. Figure 2 —7 shows the superior tracking capabilities of the method of the present invention. Figure 2 The position tracking diagram for a maritime space launch and recovery vessel demonstrates that the proposed control strategy can overcome environmental interference and ship-generated faults, enabling the vessel to track the required trajectory with arbitrary precision. Figure 3 The speed tracking diagram for ships used for space launch and recovery at sea further demonstrates that ships can track expected trajectories; Figure 4 The speed tracking diagram for ships used for space launch and recovery at sea shows that the speed of ships is limited and reasonable. Figure 5 Anti-interference map for tracking the trajectory of ships used for space launch and recovery at sea; Figure 6 A diagram illustrating a malfunction in the trajectory tracking of ships used for maritime space launch and recovery. Figure 7 The figure shows the trajectory tracking control law for marine space launch and recovery vessels. As can be seen from the figure, the designed ship positioning control law based on disturbance observer and fault observer can enable marine space launch and recovery vessels to reach and track the desired trajectory with arbitrary accuracy, while ensuring that all signals in the trajectory tracking control system of marine space launch and recovery vessels are globally consistent and ultimately have boundaries, thus verifying the theory.
[0125] In summary, the fault-tolerant and anti-interference method for tracking the trajectory of ships used in marine aerospace launch and recovery provided by this invention has the following beneficial effects:
[0126] First, this invention provides an anti-interference and fault-tolerant control method for tracking the trajectory of marine space launch and recovery vessels. Specifically addressing the trajectory tracking of marine space launch and recovery vessels, it utilizes interference observers and fault observers to solve the problems of online estimation and suppression of unknown external marine environmental interference and estimation and compensation for propulsion failures in marine space launch and recovery vessels. Furthermore, it effectively enhances the anti-interference capability of marine space launch and recovery vessels and improves the reliability of their control, ensuring that the tracking position of marine space launch and recovery vessels achieves the expected results, thus addressing the problem of correcting tracking feedback control errors.
[0127] Secondly, this invention provides an anti-interference and fault-tolerant control method for tracking the trajectory of ships used for space launch and recovery at sea. It takes into account the actual performance of the composite anti-interference and fault-tolerant control for tracking the trajectory of ships used for space launch and recovery at sea, has low cost, and is easy to implement in engineering.
[0128] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the present invention. Any person skilled in the art can make many possible variations and modifications to the technical solution of the present invention, or modify it into equivalent embodiments, without departing from the scope of the present invention. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technology of the present invention without departing from the scope of the present invention are within the protection scope of the present invention.
Claims
1. An anti-interference and fault-tolerant control method for tracking the trajectory of ships used for space launch and recovery at sea, characterized in that, The method The process includes the following: S1: Based on the position and heading angle information of the trajectory tracking of marine space launch and recovery vessels in the geodetic coordinate system, and the corresponding velocity information in the appendage coordinate system of the marine space launch and recovery vessels, a kinematic model for the trajectory tracking of marine space launch and recovery vessels is established. S2: Considering the wind, waves, currents, and unmodeled dynamic time-varying environmental disturbances in the marine environment where the space launch and recovery vessel is maneuvering and operating, and also considering the possible propulsion failures that may occur during the navigation of the space launch and recovery vessel, establish a dynamic model for the trajectory tracking of the space launch and recovery vessel. S3: Design an interference observer to estimate and counteract time-varying environmental interference in tracking the trajectory of ships used for maritime space launches and recovery; Design a fault observer to estimate and compensate for faults in the propulsion systems of ships used for sea-based space launch and recovery. S4: Design a composite anti-interference fault-tolerant controller based on interference observer and fault observer; S5: Using the linear matrix inequality algorithm, solve the gain matrix in the composite anti-interference fault-tolerant controller for tracking the trajectory of marine aerospace launch and recovery vessels, and the observation gain matrix in the interference observer and fault observer, so as to achieve the expected value for tracking the trajectory of marine aerospace launch and recovery vessels.
2. The anti-interference and fault-tolerant control method for tracking the trajectory of marine space launch and recovery vessels according to claim 1, characterized in that, The kinematic model of the ship's nonlinear motion in step S1 is specifically described as follows: In formulas (1) and (2), η = [x, y, ψ] T The position vector in the northeast coordinate system is composed of the ship's actual position (x, y) and heading angle ψ; υ = [u, v, r] T The velocity vector in the attached coordinate system is composed of the ship's forward velocity u, lateral drift velocity v, and bow roll angular velocity r; J(ψ) is defined as the rotation matrix, representing the rotation matrix from the attached coordinate system to the northeast coordinate system.
3. The anti-interference and fault-tolerant control method for tracking the trajectory of ships used in marine space launch and recovery according to claim 1, characterized in that, The dynamic model for tracking the trajectory of maritime space launch and recovery vessels in step 2 is as follows: In equation (3), M is the inertia matrix including the added mass; C(v) is the Coriolis centripetal force matrix; D(v) is the damping matrix; τ is the control vector provided by the thruster; d(t) = [d1(t), d2(t), d3(t)] T The equivalent time-varying force and moment vectors of marine environmental disturbances such as wind, waves, and currents on the ship hull; ω(t)=[ω1(t),ω2(t),ω3(t)] T The equivalent time-varying force and moment vector on the hull when the propulsion of a marine space launch and recovery vessel fails.
4. The anti-interference and fault-tolerant control method for tracking the trajectory of marine space launch and recovery vessels according to claim 3, characterized in that, The control vector τ = [τ1, τ2, τ3] T It consists of the sway control force τ1, the sway control force τ2, and the yaw control torque τ3.
5. The anti-interference and fault-tolerant control method for tracking the trajectory of marine space launch and recovery vessels according to claim 3, characterized in that, The inertia matrix M is: In equation (4), m is the mass of the sea-based space launch and recovery vessel; The additional mass caused by the motion of ships used for space launch and recovery at sea; I z x is the moment of inertia. G This is the distance between the ship's center and the origin of the established coordinate system.
6. The anti-interference and fault-tolerant control method for tracking the trajectory of ships used in marine space launch and recovery according to claim 3, characterized in that, The damping matrix D(v) is: In equation (5), u is the velocity vector used by the ship for launching and recovering spacecraft at sea; X u ,Y υ ,Y r N υ N r Both are damping coefficients.
7. The anti-interference and fault-tolerant control method for tracking the trajectory of marine space launch and recovery vessels according to claim 1, characterized in that, The specific design process of the interference observer and fault observer in step S3 is as follows: Based on the unknown interference vector d(t) in equations (1) and (3), the following interference observer is designed: In equation (6), Let K0 ∈ R be the estimated value of the disturbance. 3×3 Let β be the gain matrix of the interference observer, β∈R 3 is the auxiliary intermediate vector generated by equation (6).
8. The anti-interference and fault-tolerant control method for tracking the trajectory of marine space launch and recovery vessels according to claim 7, characterized in that, The malfunctions experienced by sea-based space launch and recovery vessels can be represented as: Where θ is a known matrix and ε(t) is a bounded vector; for the propulsion failure of a marine space launch and recovery vessel, a fault observer is designed to estimate the fault, and the estimated value is used in the controller to cancel the fault. The designed fault observer is as follows: In equation (7), The fault is an estimated value, K3∈R 3×3 Let R be the gain matrix of the fault observer, q∈R 3 is the auxiliary intermediate vector generated by equation (7).
9. The anti-interference and fault-tolerant control method for tracking the trajectory of marine space launch and recovery vessels according to claim 1, characterized in that, The specific design process of the composite anti-interference fault-tolerant controller in step S4 is as follows: Based on the interference observer and fault observer, the following composite anti-interference fault-tolerant controller is designed: In formula (8), z1=η-η d Z2 = ν - α1 represents the position error of the space launch and recovery vessel at sea; Z2 = ν - α1 represents the velocity vector error of the space launch and recovery vessel at sea; K2 = K2 T ∈R 3×3 To design the controller gain matrix; α1∈R 3 This is a virtual function vector.
10. The anti-interference and fault-tolerant control method for tracking the trajectory of marine space launch and recovery vessels according to claim 1, characterized in that, After obtaining the composite anti-interference fault-tolerant controller in steps S4 and S5, the method further includes: S6: Using the linear matrix inequality algorithm, adjust the gain matrices K0 and K3 of the interference observer and the fault observer to ensure that the tracking performance and convergence speed of the interference observer and the fault observer meet the set requirements; where K0∈R 3×3 K3 ∈ R is the positive definite symmetric interference observer gain matrix. 3×3 It is the positive definite symmetric fault observer gain matrix; S7: Using the linear matrix inequality algorithm, adjust the gain matrices K1 and K2 of the composite anti-interference fault-tolerant controller to achieve arbitrary desired accuracy in the trajectory tracking error of the space launch and recovery vessel; where K1 = K1 T ∈R 3×3 K2 = K2 T ∈R 3×3 To design the controller gain matrix.