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The PVA data are usually provided to the human operator and the navigation system. The
basic components of a guidance system are motion sensors, external data like weather data
(wind speed and direction, wave height and slope, current speed and direction) and a
computer. The computer collects and processes the information, and then feeds the results
to the motion control system. In many cases, advanced optimization techniques are used to
compute the optimal trajectory or path for the marine craft to follow. This might include
sophisticated features like fuel optimization, minimum time navigation, weather routing,
collision avoidance, formation control and schedule meetings.
Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
Shneydor, N. A. (1998). Missile Guidance and Pursuit: Kinematics, Dynamics and Control, Horwood Publishing Ltd.
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
Basic attitude control system: heading autopilot, while roll and pitch are regulated to zero or left
uncontrolled.
The task of the path-following controller is to keep the craft on the prescribed path with some
predefined dynamics, for instance given by a speed control system.
Weather routing
program
Weather data
Waves, currents
wind
Way-Points
Trajectory
Generator
Guidance System
Autopilot
Control
Allocation
Control System
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
Ship
Estimated
positions and
velocities
Navigation System
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
The interceptor (approach) velocity van is pointed to the LOS vector to obtain the
desired velocity vd
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
The interceptor aligns its velocity va along the LOS vector between
the interceptor and the target by choosing the desired velocity as:
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
v nd
p n
n
p
p n : pn pnt #
The interceptor aligns the interceptor-target velocity van along the LOS vector between
the interceptor and the target.
v nd v nt v na #
v na
p n
n
p
p n : pn pnt #
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
v na u a , va
V 1 p n t p n t 0, p n t 0
2
t U a,max
p n t
|p n t|
p n t : pnd t pnt t #
|p n t|
p
t p n t
2p
V p n t v n t
p n t p n t
t
|p n t|
p n t p n t
U a,max
p n t p n t 2p
0, p n t 0
u 2a v 2a
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
Et E d t
t d t
Trajectory-tracking control laws are classified according to the number of available actuators.
xd
(s) hlp (s)
r
where r is the command and xd is the desired
state
Choice of filter should reflect the dynamics of the
craft feasible trajectory:
Speed limitations
Acceleration limitations
reference model
xd
Bandwidth of the reference model < bandwidth of the vessel motion control system
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
h lp s
2n i
s 22 i n i s 2n i
M d d D d d Gd d Gd r
where Md, Dd, and Gd are positive design matrices.
The corresponding state-space model is:
x d Ad x d B d r
Ad
1
M 1
d G d M d D d
Bd
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
0
M 1
d Gd
C d I, 0
M d d D d d Gd d Gd r
D d M d 2,
Gd M d 2
diag 1 , 2 , , n
diag n 1 , n 2 , , n n
Premultiplying with M 1
results in the alternative representation:
d
d 2 d 2 d 2 rb
rb
reference model
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
d
d
where
r ni
2n i
1T i ss 22 i n i s 2n i
i 1, , n
Ti 1/ n i 0
This can also be written:
d i
r ni
3n i
s 32 i 1 n i s 22 i 1 2n i s 3n i
i 1, , n
d 2 I d 2 I 2 d 3 d 3 rn
Ad
3 2 I 2 2 I
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
0
,
Bd
0
3
The performance of the linear reference model can also be improved by including
saturation elements for velocity and acceleration:
satx
else
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
i max
,
i
i max
i
d 2 I d 2 I 2 d d d 3 d 3 rn
where the nonlinear function could be chosen as:
d i d i j ij | d i | p j d i ,
i 1, , n
d(x) = |x|x
1
0.8
0.6
0.4
0.2
0
-0.2
-0.4
-0.6
-0.8
-1
-1
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
-0.5
0.5
x d v d
#6
v d 2 n v d |v d |v d 2n x d 2n r #4
n 1
2
0
10
12
14
16
18
20
10
12
14
16
18
20
0, 1
3
v max 1
for an operator step input r = 1.
2
1
0
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
Nonlinear
PID controller
Dynamic model of
craft including physical
limitations
feedback
Desired states /
time-varying trajectories
d t, d t
smooth feasible
reference signals
(to control system)
Saturation elements for velocity and acceleration should be included to keep these
quantities within their physical limits.
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
N diagn 1 , , n 6 0 #
g d J d K p d ref K d d
where ref is the desired reference and (d,d) represents the desired
states. The PD control law is a guidance controller since it is applied to
the reference model.
In addition to this, it is smart to include saturation elements for velocity
and acceleration to keep these quantities within their physical limits.
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
x d U d cos d ,
y d U d sin d
d r d
# Nomoto
Tr d r d K #
model
K p u d u ref K i u d u ref d #
0
K p d ref K i d ref d K d r d #
LOS angle
Numerical integration of the ODEs with feedback yields a smooth reference trajectory
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
Waypoint
generator
waypoint
database
trajectory / path
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
Mission: the vessel should move from some starting point (xo,yo,zo)
to the terminal point (xn,yn,zn) via the waypoints (xi,yi,zi).
Environmental data: information about wind, waves, and currents
can be used for energy optimal routing (or avoidance of bad
weather for safety reasons)
Geographical data: information about shallow waters, islands etc.
should be included
Obstacles: floating constructions and other obstacles must be
avoided.
Collision avoidance: avoiding moving vessels close to your own
route by introducing safety margins.
Feasibility: each waypoint must be feasible, in that it must be
possible to maneuver to the next waypoint without exceeding
maximum speed and turning rate.
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
wpt. pos x 0 , y 0 , z 0 , x 1 , y 1 , z 1 , , x n , y n , z n
and other properties like:
wpt. speed U 0 , U 1 , , U n
wpt. heading 0 , 1 , , n
The three states (xi,yi,i) are also
called the pose and they describe
the start and end configurations of
the craft given by two waypoints
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
North
(3,3)
East
(2,2)
2
wpt. radius R 0 , R 1 , , R n
(0,0)
(1,1)
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
R i R i tan i
(0,0)
(2,2)
where i is defined in
the figure.
90-1
90-1
(1,1)
Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
1=1/
32
= + -221
xt 2
yt 2
0 #
Speed
pnk xk , yk R2
pnk1 xk1 ,yk1 R2
R p k :
cos k sin k
sin k
cos k
SO2 #
t st, et R2
Enclosure-based steering
Lookahead-based steering
and at the same time regulate the cross-track error e(t) to zero.
The two steering methods essentially operate by the same principle, but as will be made
clear, the lookahead-based steering motivated by missile guidance has several advantages
over the enclosure-based approach.
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
yt
y yt
los
xt
x los xt
y yk
tan k x k1
k1 x k
y yk
x los
constant #
los x k
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
d e p r e #
p k #
et
R 2 et 2
Kd
K i
d #
K p
0
d d #
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
LOS guidance principle where the sideslip angle is computed from velocity measurements:
arcsin
v
U
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
K p 1/ 0
r e arctan K p et K i ed
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
(xk-1,yk-1)
x
(xk,yk)
x
Rk
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Lecture Notes TTK 4190 Guidance and Control of Vehicles (T. I. Fossen)
(xk+1,yk+1)
x
Rk+1