A wave inversion-based trajectory tracking control method for trimaran and a real-time simulation verification system

Abstract

The application provides a wave inversion-based trimaran trajectory tracking control method and a real-time simulation verification system, aiming at the control problem of the trimaran under the conditions of uncertain model parameters and strong time-varying wave disturbance. First, the water dynamic parameters of the main body and the side body are calculated based on the separated MMG theory, and a three-degree-of-freedom nonlinear dynamic model of the trimaran is established by synthesis. Second, a spectrum matching method is used to generate time-varying wave disturbance signals in accordance with the significant wave height of the target sea state, which conforms to the statistical characteristics of the real ocean wave energy spectrum. Third, a virtual control law and a single-parameter adaptive backstepping actual control law are designed to compensate for the model uncertainty online, and a disturbance observer is constructed to output the estimated value of the time-varying wave disturbance, which is fed back to the actual control law to realize feedforward compensation. Finally, the hardware-in-the-loop verification is carried out through the signal interaction loop between the upper computer and the real-time simulation machine. The application effectively improves the trajectory tracking control accuracy and robustness of the trimaran in complex sea conditions.

Description

Technical Field

[0001] This invention relates to the field of unmanned surface vessel technology, and more particularly to a trimaran trajectory tracking control method and real-time simulation verification system based on wave inversion. Background Technology

[0002] Trimaraners, with their excellent stability, spacious deck area, and good seakeeping, have shown broad application potential in marine monitoring, transportation, and special operations. However, their unique main-side hull coupling structure leads to complex hydrodynamic interactions and significant uncertainties in model parameters. At the same time, wave disturbances in the marine environment are characterized by significant time-varying nature, spatial non-uniformity, and difficulty in accurate online modeling, which seriously affects the trajectory tracking accuracy and navigation safety of trimarans.

[0003] Existing ship trajectory tracking control methods are mostly designed for conventional monohull ship types, failing to fully consider the unique hydrodynamic coupling characteristics and model parameter uncertainties of trimaran ships. Regarding disturbance handling, existing methods often simplify wave disturbances to steady or bounded disturbances, making it difficult to reflect their true time-varying dynamic characteristics, resulting in limited feedforward compensation effectiveness. Furthermore, the verification of control algorithms mostly remains at the numerical simulation level, lacking a hardware-in-the-loop verification platform capable of simulating the real-time operating characteristics of a real engineering processor and interacting in a closed loop with the physical dynamics model, creating a significant gap between theoretical design and engineering implementation. Summary of the Invention

[0004] To address the aforementioned issues in existing technologies regarding the complex hydrodynamic interactions and significant uncertainties in model parameters caused by the main-side hull coupling structure of trimarans, as well as the significant time-varying, spatially non-uniform, and difficult-to-accurate online modeling of wave disturbances in the marine environment, which severely impact trajectory tracking accuracy and navigation safety, and the lack of a hardware-in-the-loop verification platform capable of simulating the real-time operating characteristics of real engineering processors, this invention provides a trimaran trajectory tracking control method and real-time simulation verification system based on wave inversion. This invention primarily utilizes the separated MMG theory to establish hydrodynamic models for the main body and side hulls of the trimaran and synthesize a three-degree-of-freedom nonlinear dynamic model. A time-varying wave disturbance signal conforming to the statistical characteristics of real sea states is generated using spectral matching. A single-parameter adaptive backstepping control law is designed to compensate for model uncertainties online. An disturbance observer is constructed to perform feedforward estimation and compensation for time-varying wave disturbances. Hardware-in-the-loop verification is achieved through a signal interaction loop between the host computer and the real-time simulator. This effectively improves the trajectory tracking control accuracy and robustness of trimarans under complex sea states, and verifies the feasibility and effectiveness of the control algorithm in a real engineering system through hardware-in-the-loop simulation.

[0005] The technical means employed in this invention are as follows: A trajectory tracking control method for trimaran based on wave inversion includes: S1. Establish a three-degree-of-freedom nonlinear dynamic model for the trimaran; S2. Based on the spectrum matching method, a time-varying wave interference signal that conforms to the statistical characteristics of the energy spectrum of real ocean waves is generated according to the meaningful wave height of the target sea state. S3. Based on the established three-degree-of-freedom nonlinear dynamic model of the trimaran and the generated time-varying wave interference signal, a virtual control law and a single-parameter adaptive backstepping actual control law are designed to compensate for model uncertainty online. S4. Based on the established three-degree-of-freedom nonlinear dynamic model of the trimaran, an interference observer is constructed to output the estimated value of time-varying wave interference. The interference estimate is then fed back to the designed single-parameter adaptive backstepping actual control law to obtain a complete control law including the interference compensation term, thereby realizing real-time feedforward compensation for the total interference.

[0006] Further, step S1 includes: S11. Obtain the geometric dimensions, mass distribution, and draft parameters of the trimaran's main body and side hulls respectively; S12. Based on the split MMG theory, calculate the additional mass, damping coefficient and hydrodynamic derivative of the main body and side body under the three degrees of freedom of sway, roll and yaw respectively. S13. The inertial linear hydrodynamic terms are transformed into Coriolis centripetal force terms, and the viscous linear hydrodynamic terms are transformed into damping terms. The rudder force, propeller thrust, and torque are treated as control inputs, and disturbance terms are introduced to obtain the following three-degree-of-freedom nonlinear dynamic equations for the trimaran:

[0007] in, For the ship mass matrix, Let V be the velocity vector of the ship in the ship's coordinate system. To control the input, As a distractor, The Coriolis centripetal force matrix, Here is the damping matrix.

[0008] Furthermore, in the three-degree-of-freedom nonlinear dynamic equations of the trimaran: The ship mass matrix The formula is as follows:

[0009] in, The total mass of the trimaran; Add mass in the longitudinal direction; Add mass in the sway direction; Let be the moment of inertia of the trimaran about its vertical axis; Add rotational inertia in the direction of bow roll; The total mass in the longitudinal direction; The total mass in the sway direction; The total moment of inertia in the direction of bow roll; The velocity vector of the ship in the ship's coordinate system The formula is as follows:

[0010] in, For oscillation speed, For sway speed, The bow roll angular velocity; The Coriolis centripetal force matrix The formula is as follows:

[0011] The damping matrix The formula is as follows:

[0012] in, , The hydrodynamic force is directed in the direction of oscillation. , The hydrodynamic derivatives related to the sway direction, sway velocity, and yaw rate; , The hydrodynamic derivatives relating the sway direction to the absolute value of the sway velocity and the bow roll rate are given. The hydrodynamic derivative relating the sway direction to the absolute value of the bow roll rate. The first-order hydrodynamic derivative of the sway direction and the bow roll rate; , The first-order hydrodynamic derivative of the bow roll direction and bow roll angular velocity is given. Hydrodynamic derivative relating the direction of yaw and the absolute value of the yaw angular velocity. The hydrodynamic derivatives relating the bow direction to the squares of the sway velocity and the bow angular velocity are given. The longitudinal coordinate of the ship's center of gravity in the ship's coordinate system; , This is the hydrodynamic derivative relating the sway direction to the absolute value of the sway velocity. The first-order hydrodynamic derivative relating the sway direction and sway velocity; , The hydrodynamic derivatives relating the bow direction to the square of the sway velocity and the bow angular velocity are given. It is the first-order hydrodynamic derivative related to the bow roll direction and sway velocity.

[0013] Further, step S2 includes: S21. Significant wave height based on the target sea state Determine the energy distribution characteristics of the wave simulation; S22. Simulate ocean waves using a second-order transfer function driven by mean white noise. The transfer function has the following form:

[0014] in, The transfer function is used to simulate ocean waves; For the Laplace operator; This is the gain coefficient; The damping coefficient is... The natural frequency of the transfer function; S23, By making the transfer function at its natural frequency The energy at that frequency is equal to the density of the actual sea wave spectrum at that frequency. The model parameters are determined using the following formula:

[0015] in, For the transfer function at frequency Power spectral density at; For the transfer function at angular frequency Frequency response function at that point, The imaginary unit; For the true hygroscopic spectrum at frequency Spectral density at; S24. Combining the nearshore spectral formula, when... Take the peak frequency of the spectrum When calculating the spectral peak frequency, the formula is as follows:

[0016] in, The frequency of the spectral peak; Meaningful wave height for the target sea state; S25. Based on the calculated spectral peak frequencies The gain coefficient is calculated using the following formula:

[0017] in, This is the gain coefficient; The damping coefficient; S26, via transfer function The system generates time-varying wave disturbance force and moment sequences to simulate the impact of real waves on a trimaran. Output signals for ocean waves; The transfer function is used to simulate ocean waves; It is a zero-mean white noise signal.

[0018] Further, step S3 includes: S31. For the trimaran trajectory tracking task, set the trajectory tracking error vector as follows:

[0019] in, This is the trajectory tracking error vector; This is the speed tracking error vector; Let be the actual trajectory vector, where Vertical position The horizontal position For heading angle; The desired trajectory vector; Let be the actual velocity vector, where For oscillation speed, For sway speed, The bow roll angular velocity; For virtual control laws; S32. Design the virtual control law as follows:

[0020] in, For virtual control laws; This is the transpose of the rotation matrix; For heading angle; The derivative of the desired trajectory vector with respect to time is the desired velocity. Let be the symmetric positive definite parameter matrix to be designed; S33. Design a single-parameter adaptive backstepping actual control law, as follows:

[0021] in, This is the output of the actual control law, i.e., the control input vector; It is a positive definite gain matrix; This is the speed tracking error vector; Design constant; These are the adaptive parameter estimates; For regression vector functions, The regression matrix or vector is known; S34. Determine the online adjustment rules for the adaptive parameter estimates in the single-parameter adaptive backstepping actual control law, as follows:

[0022] in, This is the derivative of the adaptive parameter estimate with respect to time. Let be the Euclidean norm of the velocity tracking error vector; Design constant; These are the estimated values ​​for the adaptive parameters.

[0023] Further, step S4 includes: S41. Construct an auxiliary vector for the interference observer, and establish the dynamic equation of the auxiliary vector as follows:

[0024] in, This is the auxiliary vector for the observer; The time derivative of the observer auxiliary vector; The time constant matrix; Here is the gain matrix of the observer to be designed; Let be the gain matrix of the observer to be designed, and satisfy the following condition: ; Let be the velocity vector of the ship in the ship's coordinate system; To control the input vector; S42. Based on the auxiliary vector and the ship velocity vector, calculate the estimated value of time-varying wave disturbance, as shown in the following formula:

[0025] in, This is the estimated vector of time-varying wave disturbances; S43. Feed the disturbance estimate back to the single-parameter adaptive backstepping actual control law to obtain the complete control law including the disturbance compensation term, as follows:

[0026] in, This is the output of the complete control law, including the disturbance compensation term.

[0027] Furthermore, the method also includes: S5. Deploy the established three-degree-of-freedom nonlinear dynamic model of the trimaran, the generated time-varying wave interference signal, and the designed control algorithm to the physical hardware. Establish the signal interaction loop between the controller and the controlled object through the communication interface between the host computer and the real-time simulator to verify the feasibility and effectiveness of the control algorithm in the real engineering system.

[0028] Further, step S5 includes: S51. Construct a complete controlled object model in the Simulink environment, including a trimaran dynamics model and a wave disturbance model, and generate real-time simulation code that can run on a real-time simulator through cross-compilation. S52. Configure a communication interface unit to establish a low-latency communication channel based on TCP / IP between the host computer and the real-time simulator; wherein, the communication interface unit integrates a physical signal conversion device to simulate the A / D and D / A conversion hardware interface characteristics of the actual controller; S53. The host computer loads the control algorithm and sets the verification parameters, generates control commands and sends them to the real-time simulator. S54. The real-time simulator calculates the control commands to obtain the real-time motion status of the ship and feeds it back to the host computer, forming a signal interaction loop between the controller and the controlled object at the hardware level.

[0029] This invention also provides a real-time simulation verification system based on the above-mentioned wave inversion-based trimaran trajectory tracking control method, comprising: a trimaran dynamics model construction module, a time-varying wave disturbance simulation module, a trajectory tracking control module, a disturbance observation and compensation module, and a hardware-in-the-loop verification module, wherein: The trimaran dynamics model building module is used to establish a three-degree-of-freedom nonlinear dynamics model for a trimaran. The time-varying wave interference simulation module is used to generate a time-varying wave interference signal that conforms to the statistical characteristics of the energy spectrum of real ocean waves based on the input target sea state meaningful wave height using the spectral matching method. The trajectory tracking control module is used to design virtual control laws and single-parameter adaptive backstepping actual control laws based on the established three-degree-of-freedom nonlinear dynamics model of the trimaran and the generated time-varying wave interference signals, and to compensate for model uncertainties online. The disturbance observation and compensation module is used to construct a disturbance observer based on the established three-degree-of-freedom nonlinear dynamic model of the trimaran, output the estimated value of time-varying wave disturbance, and feed the disturbance estimate back to the designed single-parameter adaptive backstepping actual control law to obtain a complete control law including the disturbance compensation term, thereby realizing real-time feedforward compensation for the total disturbance.

[0030] The hardware-in-the-loop verification module is used to deploy the established three-degree-of-freedom nonlinear dynamic model of the trimaran, the generated time-varying wave interference signal, and the designed control algorithm to the physical hardware. It establishes a signal interaction loop between the controller and the controlled object through the communication interface between the host computer and the real-time simulator, and verifies the feasibility and effectiveness of the control algorithm in a real engineering system.

[0031] Compared with the prior art, the present invention has the following advantages: 1. The wave inversion-based trajectory tracking control method for trimarans provided by this invention calculates the additional mass, damping coefficient, and hydrodynamic derivative of the main body and side bodies under the three degrees of freedom of pitch, sway, and yaw by using the separated MMG theory, and then superimposes and synthesizes them. This achieves an accurate characterization of the hydrodynamic interaction characteristics of the main-side body coupled structure of the trimaran, effectively solving the problem that conventional monohull models in the prior art cannot reflect the unique hydrodynamic coupling characteristics of trimarans.

[0032] 2. The present invention provides a trimaran trajectory tracking control method based on wave inversion. By using the spectrum matching method to make the energy of the transfer function at the natural frequency equal to the actual ocean wave spectral density, the model parameters are determined. This realizes the generation of time-varying wave interference signals that conform to the statistical characteristics of the actual ocean wave energy spectrum. It effectively solves the problem in the prior art that the wave interference is simplified to a steady or bounded interference, which makes it difficult to reflect its true time-varying dynamic characteristics.

[0033] 3. The present invention provides a trimaran trajectory tracking control method based on wave inversion. By jointly designing a single-parameter adaptive backstepping control law and a disturbance observer, the time-varying wave disturbance estimate output by the disturbance observer is fed forward to compensate the actual control law. This achieves simultaneous online compensation for model uncertainty and unknown time-varying disturbance, effectively solving the problems of limited feedforward compensation effect and difficulty in coping with strong time-varying wave disturbance in the prior art.

[0034] 4. The present invention provides a trimaran trajectory tracking control method based on wave inversion. By establishing a signal interaction loop with the host computer monitoring platform and the real-time simulator unit based on the TCP / IP communication protocol, the real-time running characteristics simulation of the control algorithm in a real engineering processor and the closed-loop interactive verification with the physical dynamic model are realized. This effectively solves the problem that the algorithm verification in the prior art is limited to the numerical simulation level and there is a significant gap between theoretical design and engineering implementation.

[0035] In summary, by applying the technical solution of this invention, the control challenges of trimaran models under uncertainties and strong time-varying wave disturbances in existing technologies are effectively improved through a systematic technical solution involving separate MMG modeling, spectral matching disturbance simulation, joint design of single-parameter adaptive backstepping control and disturbance observer, and hardware-in-the-loop verification. This significantly enhances the control accuracy and robustness of trimaran ships in complex sea conditions. Therefore, the technical solution of this invention solves the problems of existing technologies that fail to fully consider the unique hydrodynamic coupling characteristics and model parameter uncertainties of trimaran ships, struggle to reflect the time-varying dynamic characteristics of wave disturbances, have limited feedforward compensation effects, and lack a hardware-in-the-loop verification platform.

[0036] Based on the above reasons, this invention can be widely applied in fields such as unmanned vessel trajectory tracking and control, attitude maintenance of marine monitoring platforms, autonomous navigation of trimaran special operations, and hardware-in-the-loop testing of ship motion control systems. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the 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 based on these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the motion control system of the trimaran ship in this invention.

[0039] Figure 2 This is a hardware-in-the-loop system architecture diagram of the present invention. Detailed Implementation

[0040] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0041] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification, claims and accompanying drawings of this invention are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product or device.

[0042] This invention provides a trajectory tracking control method for trimaran based on wave inversion, comprising: S1. Establish a three-degree-of-freedom nonlinear dynamic model for the trimaran; S2. Based on the spectrum matching method, a time-varying wave interference signal that conforms to the statistical characteristics of the energy spectrum of real ocean waves is generated according to the meaningful wave height of the target sea state. S3. Based on the established three-degree-of-freedom nonlinear dynamic model of the trimaran and the generated time-varying wave interference signal, a virtual control law and a single-parameter adaptive backstepping actual control law are designed to compensate for model uncertainty online. S4. Based on the established three-degree-of-freedom nonlinear dynamic model of the trimaran, an interference observer is constructed to output the estimated value of time-varying wave interference. The interference estimate is then fed back to the designed single-parameter adaptive backstepping actual control law to obtain a complete control law including the interference compensation term, thereby realizing real-time feedforward compensation for the total interference. S5. Deploy the established three-degree-of-freedom nonlinear dynamic model of the trimaran, the generated time-varying wave interference signal, and the designed control algorithm to the physical hardware. Establish the signal interaction loop between the controller and the controlled object through the communication interface between the host computer and the real-time simulator to verify the feasibility and effectiveness of the control algorithm in the real engineering system.

[0043] In a specific implementation, as a preferred embodiment of the present invention, step S1 includes: S11. Obtain the geometric dimensions (such as length, width, and distance between hulls), mass distribution (such as mass of the main body and mass of the hulls), and draft parameters of the trimaran's main body and hulls respectively; S12. Based on the split MMG theory, calculate the additional mass, damping coefficient and hydrodynamic derivative of the main body and side body under the three degrees of freedom of sway, roll and yaw respectively. S13. The inertial linear hydrodynamic terms are transformed into Coriolis centripetal force terms, and the viscous linear hydrodynamic terms are transformed into damping terms. The rudder force, propeller thrust, and torque are treated as control inputs, and disturbance terms are introduced to obtain the following three-degree-of-freedom nonlinear dynamic equations for the trimaran:

[0044] in, For the ship mass matrix, Let V be the velocity vector of the ship in the ship's coordinate system. To control the input, As a distractor, The Coriolis centripetal force matrix, Here is the damping matrix.

[0045] In a specific implementation, as a preferred embodiment of the present invention, the three-degree-of-freedom nonlinear dynamic equations of the trimaran are as follows: The ship mass matrix The formula is as follows:

[0046] in, The total mass of the trimaran; Add mass in the longitudinal direction; Add mass in the sway direction; Let be the moment of inertia of the trimaran about its vertical axis; Add rotational inertia in the direction of bow roll; The total mass in the longitudinal direction (including additional mass); The total mass in the sway direction (including additional mass); The total moment of inertia in the bow-roll direction (including additional moment of inertia); The velocity vector of the ship in the ship's coordinate system The formula is as follows:

[0047] in, For oscillation speed, For sway speed, The bow roll angular velocity; The Coriolis centripetal force matrix The formula is as follows:

[0048] The damping matrix The formula is as follows:

[0049] in, , The hydrodynamic force is directed in the direction of oscillation. , The hydrodynamic derivatives related to the sway direction, sway velocity, and yaw rate; , The hydrodynamic derivatives relating the sway direction to the absolute value of the sway velocity and the bow roll rate are given. The hydrodynamic derivative relating the sway direction to the absolute value of the bow roll rate. The first-order hydrodynamic derivative of the sway direction and the bow roll rate; , The first-order hydrodynamic derivative of the bow roll direction and bow roll angular velocity is given. Hydrodynamic derivative relating the direction of yaw and the absolute value of the yaw angular velocity. The hydrodynamic derivatives relating the bow direction to the squares of the sway velocity and the bow angular velocity are given. The longitudinal coordinate of the ship's center of gravity in the ship's coordinate system; , This is the hydrodynamic derivative relating the sway direction to the absolute value of the sway velocity. The first-order hydrodynamic derivative relating the sway direction and sway velocity; , The hydrodynamic derivatives relating the bow direction to the square of the sway velocity and the bow angular velocity are given. It is the first-order hydrodynamic derivative related to the bow roll direction and sway velocity.

[0050] In a specific implementation, as a preferred embodiment of the present invention, step S2 includes: S21. Significant wave height based on the target sea state Determine the energy distribution characteristics of the wave simulation; S22. Simulate ocean waves using a second-order transfer function driven by mean white noise. The transfer function has the following form:

[0051] in, The transfer function is used to simulate ocean waves; For the Laplace operator; This is the gain coefficient; This is the damping coefficient, with a value ranging from 0.1 to 0.3; The natural frequency of the transfer function; S23, By making the transfer function at its natural frequency The energy at that frequency is equal to the density of the actual sea wave spectrum at that frequency. The model parameters are determined using the following formula:

[0052] in, For the transfer function at frequency Power spectral density at; For the transfer function at angular frequency Frequency response function at that point, The imaginary unit; For the true hygroscopic spectrum at frequency Spectral density at; S24. Combining the nearshore spectral formula, when... Take the peak frequency of the spectrum When calculating the spectral peak frequency, the formula is as follows:

[0053] in, The frequency of the spectral peak; Meaningful wave height for the target sea state; S25. Based on the calculated spectral peak frequencies The gain coefficient is calculated using the following formula:

[0054] in, This is the gain coefficient; The damping coefficient; S26, via transfer function The system generates time-varying wave disturbance force and moment sequences to simulate the impact of real waves on a trimaran. Output signals for ocean waves; The transfer function is used to simulate ocean waves; It is a zero-mean white noise signal.

[0055] In a specific implementation, as a preferred embodiment of the present invention, step S3 includes: S31. For the trimaran trajectory tracking task, set the trajectory tracking error vector as follows:

[0056] in, This is the trajectory tracking error vector; This is the speed tracking error vector; Let be the actual trajectory vector, where Vertical position The horizontal position For heading angle; The desired trajectory vector; Let be the actual velocity vector, where For oscillation speed, For sway speed, The bow roll angular velocity; For virtual control laws; S32. Design the virtual control law as follows:

[0057] in, For virtual control laws; This is the transpose of the rotation matrix; For heading angle; The derivative of the desired trajectory vector with respect to time is the desired velocity. Let be the symmetric positive definite parameter matrix to be designed; S33. Design a single-parameter adaptive backstepping actual control law, as follows:

[0058] in, This is the output of the actual control law, i.e., the control input vector; It is a positive definite gain matrix; This is the speed tracking error vector; Design constant; These are the adaptive parameter estimates; For regression vector functions, The regression matrix or vector is known; S34. Determine the online adjustment rules for the adaptive parameter estimates in the single-parameter adaptive backstepping actual control law, as follows:

[0059] in, This is the derivative of the adaptive parameter estimate with respect to time. Let be the Euclidean norm of the velocity tracking error vector; Design constant; These are the estimated values ​​for the adaptive parameters.

[0060] In a specific implementation, as a preferred embodiment of the present invention, step S4 includes: S41. Construct an auxiliary vector for the interference observer, and establish the dynamic equation of the auxiliary vector as follows:

[0061] in, This is the auxiliary vector for the observer; The time derivative of the observer auxiliary vector; The time constant matrix; Here is the gain matrix of the observer to be designed; Let be the gain matrix of the observer to be designed, and satisfy the following condition: ; Let be the velocity vector of the ship in the ship's coordinate system; To control the input vector; S42. Based on the auxiliary vector and the ship velocity vector, calculate the estimated value of time-varying wave disturbance, as shown in the following formula:

[0062] in, This is the estimated vector of time-varying wave disturbances; S43. Feed the disturbance estimate back to the single-parameter adaptive backstepping actual control law to obtain the complete control law including the disturbance compensation term, as follows:

[0063] in, This is the output of the complete control law, including the disturbance compensation term.

[0064] In a specific implementation, as a preferred embodiment of the present invention, step S5 includes: S51. Construct a complete controlled object model in the Simulink environment, including a trimaran dynamics model and a wave disturbance model, and generate real-time simulation code that can run on a real-time simulator through cross-compilation. S52. Configure a communication interface unit to establish a low-latency communication channel based on TCP / IP between the host computer and the real-time simulator; wherein, the communication interface unit integrates a physical signal conversion device to simulate the A / D and D / A conversion hardware interface characteristics of the actual controller; S53, The host computer loads the control algorithm (such as an adaptive backstepping controller) and sets the verification parameters (desired trajectory and sea state level), generates control commands and sends them to the real-time simulator; S54. The real-time simulator calculates the control commands to obtain the real-time motion state of the ship and feeds it back to the host computer, forming a signal interaction loop between the controller and the controlled object at the hardware level. In this embodiment, the real-time simulator is a KL-BOX, which contains a main controller and a sub-controller. It calculates the real-time motion state of the ship based on the dynamic model and the disturbance model. The real-time simulator integrates modules such as real-time time synchronization, information conversion, and main / sub-controllers. It calculates the control commands to obtain the real-time motion state of the ship (position, attitude, speed, etc.) and feeds it back to the host computer, ultimately forming a signal interaction loop between the controller and the controlled object at the hardware level.

[0065] This invention also provides a real-time simulation verification system based on the above-mentioned wave inversion-based trimaran trajectory tracking control method, comprising: a trimaran dynamics model construction module, a time-varying wave disturbance simulation module, a trajectory tracking control module, a disturbance observation and compensation module, and a hardware-in-the-loop verification module, wherein: The trimaran dynamics model building module is used to establish a three-degree-of-freedom nonlinear dynamics model for a trimaran. The time-varying wave interference simulation module is used to generate a time-varying wave interference signal that conforms to the statistical characteristics of the energy spectrum of real ocean waves based on the input target sea state meaningful wave height using the spectral matching method. The trajectory tracking control module is used to design virtual control laws and single-parameter adaptive backstepping actual control laws based on the established three-degree-of-freedom nonlinear dynamics model of the trimaran and the generated time-varying wave interference signals, and to compensate for model uncertainties online. The disturbance observation and compensation module is used to construct a disturbance observer based on the established three-degree-of-freedom nonlinear dynamic model of the trimaran, output the estimated value of time-varying wave disturbance, and feed the disturbance estimate back to the designed single-parameter adaptive backstepping actual control law to obtain a complete control law including the disturbance compensation term, thereby realizing real-time feedforward compensation for the total disturbance.

[0066] The hardware-in-the-loop verification module is used to deploy the established three-degree-of-freedom nonlinear dynamic model of the trimaran, the generated time-varying wave interference signal, and the designed control algorithm to the physical hardware. It establishes a signal interaction loop between the controller and the controlled object through the communication interface between the host computer and the real-time simulator, and verifies the feasibility and effectiveness of the control algorithm in a real engineering system.

[0067] The embodiments of the present invention are described simply because they correspond to those in the embodiments above. For any similarities, please refer to the descriptions in the embodiments above, which will not be elaborated here.

[0068] Example like Figure 1 The diagram shown is a structural schematic of the trimaran motion control system, illustrating the actual state of the trimaran. With the expected trajectory Comparison generates tracking error The error is processed by a virtual control law to generate a virtual control quantity. Meanwhile, the interference observer estimates real-time wave interference. and output the error estimate. Actual control law By integrating virtual commands, disturbance estimation, and ship status, the final control command driving the trimaran is calculated. Under the influence of control commands and real disturbances, the trimaran outputs a new state, which is fed back to the system to form a closed loop, thereby achieving accurate tracking of the desired trajectory and disturbance suppression.

[0069] like Figure 2 The diagram shows the structure of the trimaran motion control system. Its physical architecture mainly consists of three parts: a host computer monitoring unit (i.e., the experimental testing platform), a communication interface unit, and a real-time simulator unit (i.e., the real-time simulator itself). These three components work together to form a complete hardware-in-the-loop simulation closed loop. Specifically: The host computer monitoring platform is based on a high-performance host computer, which loads control algorithms (such as virtual control laws, adaptive backstepping methods, etc.), provides a human-computer interaction interface to set parameters (such as sea state level, desired trajectory, control parameters, etc.), send control commands, and monitor the system operation status (such as ship attitude, speed, disturbance estimation, etc.).

[0070] Communication interface unit: Responsible for bidirectional data interaction between the host computer and the real-time simulator. It realizes real-time data transmission (such as control command issuance, ship status feedback, interference signal synchronization, etc.) through TCP / IP communication protocol, and integrates physical signal conversion devices (such as A / D and D / A conversion modules) to simulate the hardware interface characteristics of the actual controller.

[0071] The real-time simulation unit, based on KLBOX, runs a high-fidelity dynamic model of the trimaran and a marine environment model (wave disturbance model). After receiving instructions from the host computer, it calculates the real-time motion state of the ship (such as position, attitude, speed, acceleration, etc.) and feeds the state data back to the host computer to form a closed-loop test environment.

[0072] like Figure 2As shown, the detection platform consists of a non-real-time simulation system, a host computer, and simulator nodes. The non-real-time simulation system outputs simulation result files and event action files, providing input data such as expected trajectories and interference scenarios for testing. The host computer, as the core of detection and control, receives files from the non-real-time simulation system, sends control commands to the real-time simulator via a communication interface (such as TCP / IP), and receives feedback on the ship's status from the real-time simulator. The simulator nodes bridge the host computer and the real-time simulator, converting digital commands into analog signals through a series of physical signal conversion devices, while ensuring consistency with the real-time simulator's practical benchmark through a satellite time synchronization system. The real-time simulator internally contains a main controller and sub-controllers. The main controller and sub-controllers, as core computing units, calculate the ship's real-time motion state based on the dynamics model and interference model, and generate control commands to feed back to the dynamics model, forming a signal interaction loop between the controller and the controlled object.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A trajectory tracking control method for a trimaran based on wave inversion, characterized in that, include: S1. Establish a three-degree-of-freedom nonlinear dynamic model for the trimaran; S2. Based on the spectrum matching method, a time-varying wave interference signal that conforms to the statistical characteristics of the energy spectrum of real ocean waves is generated according to the meaningful wave height of the target sea state. S3. Based on the established three-degree-of-freedom nonlinear dynamic model of the trimaran and the generated time-varying wave interference signal, a virtual control law and a single-parameter adaptive backstepping actual control law are designed to compensate for model uncertainty online. S4. Based on the established three-degree-of-freedom nonlinear dynamic model of the trimaran, an interference observer is constructed to output the estimated value of time-varying wave interference. The interference estimate is then fed back to the designed single-parameter adaptive backstepping actual control law to obtain a complete control law including the interference compensation term, thereby realizing real-time feedforward compensation for the total interference.

2. The trimaran trajectory tracking control method based on wave inversion according to claim 1, characterized in that, Step S1 includes: S11. Obtain the geometric dimensions, mass distribution, and draft parameters of the trimaran's main body and side hulls respectively; S12. Based on the split MMG theory, calculate the additional mass, damping coefficient and hydrodynamic derivative of the main body and side body under the three degrees of freedom of sway, roll and yaw respectively. S13. The inertial linear hydrodynamic terms are transformed into Coriolis centripetal force terms, and the viscous linear hydrodynamic terms are transformed into damping terms. The rudder force, propeller thrust, and torque are treated as control inputs, and disturbance terms are introduced to obtain the following three-degree-of-freedom nonlinear dynamic equations for the trimaran: in, For the ship mass matrix, Let V be the velocity vector of the ship in the ship's coordinate system. To control the input, As a distractor, The Coriolis centripetal force matrix, Here is the damping matrix.

3. The trimaran trajectory tracking control method based on wave inversion according to claim 2, characterized in that, In the three-degree-of-freedom nonlinear dynamic equations of the trimaran: The ship mass matrix The formula is as follows: in, The total mass of the trimaran; Add mass in the longitudinal direction; Add mass in the sway direction; Let be the moment of inertia of the trimaran about its vertical axis; Add rotational inertia in the direction of bow roll; The total mass in the longitudinal direction; The total mass in the sway direction; The total moment of inertia in the direction of bow roll; The velocity vector of the ship in the ship's coordinate system The formula is as follows: in, For oscillation speed, For sway speed, The bow roll angular velocity; The Coriolis centripetal force matrix The formula is as follows: The damping matrix The formula is as follows: in, , The hydrodynamic force is directed in the direction of swaying; , The hydrodynamic derivatives related to the sway direction, sway velocity, and yaw rate; , The hydrodynamic derivatives relating the sway direction to the absolute value of the sway velocity and the bow roll rate are given. The hydrodynamic derivative relating the sway direction to the absolute value of the bow roll rate. The first-order hydrodynamic derivative of the sway direction and the bow roll rate; , The first-order hydrodynamic derivative of the bow roll direction and bow roll angular velocity is given. Hydrodynamic derivative relating the direction of yaw and the absolute value of the yaw angular velocity. The hydrodynamic derivatives relating the bow direction to the squares of the sway velocity and the bow angular velocity are given. The longitudinal coordinate of the ship's center of gravity in the ship's coordinate system; , This is the hydrodynamic derivative relating the sway direction to the absolute value of the sway velocity. The first-order hydrodynamic derivative relating the sway direction and sway velocity; , The hydrodynamic derivatives relating the bow direction to the square of the sway velocity and the bow angular velocity are given. It is the first-order hydrodynamic derivative related to the bow roll direction and sway velocity.

4. The trimaran trajectory tracking control method based on wave inversion according to claim 1, characterized in that, Step S2 includes: S21. Significant wave height based on the target sea state Determine the energy distribution characteristics of the wave simulation; S22. Simulate ocean waves using a second-order transfer function driven by mean white noise. The transfer function has the following form: in, The transfer function is used to simulate ocean waves; For the Laplace operator; This is the gain coefficient; The damping coefficient is... The natural frequency of the transfer function; S23, By making the transfer function at its natural frequency The energy at that frequency is equal to the density of the actual sea wave spectrum at that frequency. The model parameters are determined using the following formula: in, For the transfer function at frequency Power spectral density at; For the transfer function at angular frequency Frequency response function at that point, The imaginary unit; For the true hygroscopic spectrum at frequency Spectral density at; S24. Combining the nearshore spectral formula, when... Take the peak frequency of the spectrum When calculating the spectral peak frequency, the formula is as follows: in, The frequency of the spectral peak; Meaningful wave height for the target sea state; S25. Based on the calculated spectral peak frequencies The gain coefficient is calculated using the following formula: in, This is the gain coefficient; The damping coefficient; S26, via transfer function The system generates time-varying wave disturbance force and moment sequences to simulate the impact of real waves on a trimaran. Output signals for ocean waves; The transfer function is used to simulate ocean waves; It is a zero-mean white noise signal.

5. The trimaran trajectory tracking control method based on wave inversion according to claim 1, characterized in that, Step S3 includes: S31. For the trimaran trajectory tracking task, set the trajectory tracking error vector as follows: in, This is the trajectory tracking error vector; This is the speed tracking error vector; Let be the actual trajectory vector, where Vertical position The horizontal position For heading angle; The desired trajectory vector; Let be the actual velocity vector, where For oscillation speed, For sway speed, The bow roll angular velocity; For virtual control laws; S32. Design the virtual control law as follows: in, For virtual control laws; This is the transpose of the rotation matrix; For heading angle; The derivative of the desired trajectory vector with respect to time is the desired velocity. Let be the symmetric positive definite parameter matrix to be designed; S33. Design a single-parameter adaptive backstepping actual control law, as follows: in, This is the output of the actual control law, i.e., the control input vector; It is a positive definite gain matrix; This is the speed tracking error vector; Design constant; These are the adaptive parameter estimates; For regression vector functions, The regression matrix or vector is known; S34. Determine the online adjustment rules for the adaptive parameter estimates in the single-parameter adaptive backstepping actual control law, as follows: in, This is the derivative of the adaptive parameter estimate with respect to time. Let be the Euclidean norm of the velocity tracking error vector; Design constant; These are the estimated values ​​for the adaptive parameters.

6. The trimaran trajectory tracking control method based on wave inversion according to claim 1, characterized in that, Step S4 includes: S41. Construct an auxiliary vector for the interference observer, and establish the dynamic equation of the auxiliary vector as follows: in, This is the auxiliary vector for the observer; The time derivative of the observer auxiliary vector; The time constant matrix; Here is the gain matrix of the observer to be designed; Let be the gain matrix of the observer to be designed, and satisfy the following condition: ; Let be the velocity vector of the ship in the ship's coordinate system; To control the input vector; S42. Based on the auxiliary vector and the ship velocity vector, calculate the estimated value of time-varying wave disturbance, as shown in the following formula: in, This is the estimated vector of time-varying wave disturbances; S43. Feed the disturbance estimate back to the single-parameter adaptive backstepping actual control law to obtain the complete control law including the disturbance compensation term, as follows: in, This is the output of the complete control law, including the disturbance compensation term.

7. The trimaran trajectory tracking control method based on wave inversion according to claim 1, characterized in that, Also includes: S5. Deploy the established three-degree-of-freedom nonlinear dynamic model of the trimaran, the generated time-varying wave interference signal, and the designed control algorithm to the physical hardware. Establish the signal interaction loop between the controller and the controlled object through the communication interface between the host computer and the real-time simulator to verify the feasibility and effectiveness of the control algorithm in the real engineering system.

8. The trimaran trajectory tracking control method based on wave inversion according to claim 7, characterized in that, Step S5 includes: S51. Construct a complete controlled object model in the Simulink environment, including a trimaran dynamics model and a wave disturbance model, and generate real-time simulation code that can run on a real-time simulator through cross-compilation. S52. Configure a communication interface unit to establish a low-latency communication channel based on TCP / IP between the host computer and the real-time simulator; wherein, the communication interface unit integrates a physical signal conversion device to simulate the A / D and D / A conversion hardware interface characteristics of the actual controller; S53. The host computer loads the control algorithm and sets the verification parameters, generates control commands and sends them to the real-time simulator. S54. The real-time simulator calculates the control commands to obtain the real-time motion status of the ship and feeds it back to the host computer, forming a signal interaction loop between the controller and the controlled object at the hardware level.

9. A real-time simulation verification system based on wave inversion, implemented using the trimaran trajectory tracking control method based on wave inversion as described in any one of claims 1-8, characterized in that, include: The module includes a trimaran dynamics model building module, a time-varying wave disturbance simulation module, a trajectory tracking and control module, a disturbance observation and compensation module, and a hardware-in-the-loop verification module, among which: The trimaran dynamics model building module is used to establish a three-degree-of-freedom nonlinear dynamics model for a trimaran. The time-varying wave interference simulation module is used to generate a time-varying wave interference signal that conforms to the statistical characteristics of the energy spectrum of real ocean waves based on the input target sea state meaningful wave height using the spectral matching method. The trajectory tracking control module is used to design virtual control laws and single-parameter adaptive backstepping actual control laws based on the established three-degree-of-freedom nonlinear dynamics model of the trimaran and the generated time-varying wave interference signals, and to compensate for model uncertainties online. The disturbance observation and compensation module is used to construct a disturbance observer based on the established three-degree-of-freedom nonlinear dynamic model of the trimaran, output the estimated value of time-varying wave disturbance, and feed the disturbance estimate back to the designed single-parameter adaptive backstepping actual control law to obtain a complete control law including the disturbance compensation term, thereby realizing real-time feedforward compensation for the total disturbance. The hardware-in-the-loop verification module is used to deploy the established three-degree-of-freedom nonlinear dynamic model of the trimaran, the generated time-varying wave interference signal, and the designed control algorithm to the physical hardware. It establishes a signal interaction loop between the controller and the controlled object through the communication interface between the host computer and the real-time simulator, and verifies the feasibility and effectiveness of the control algorithm in a real engineering system.

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