基于模型预测控制的船舶纵向航速协同控制方法

吴文祥; 初秀民; 柳晨光; 毛文刚

doi:10.3963/j.jssn.1674-4861.2021.01.0007

基于模型预测控制的船舶纵向航速协同控制方法

doi: 10.3963/j.jssn.1674-4861.2021.01.0007

吴文祥^{1, 2, 3,},
初秀民^{1, 2},
柳晨光^{1, 2, ,},
毛文刚^{1, 2}

1.
武汉理工大学国家水运安全工程技术研究中心武汉 430063
2.
武汉理工大学智能交通系统研究中心武汉 430063
3.
武汉理工大学能源与动力工程学院武汉 430063

基金项目:

国家重点研发计划项目 2018YFB1600404

国家自然科学基金项目 51779202

国家自然科学基金项目 52001240

湖北省自然科学基金项目 2020CFB307

绿色智能内河船舶创新专项项目装函（2019）358号

详细信息

作者简介:
吴文祥（1996—），硕士研究生.研究方向：船舶智能航行控制；E-mail：wuwenxiang@whut.edu.cn

通讯作者:
柳晨光（1988—），博士，副研究员.研究方向：船舶智能航行控制；E-mail：liuchenguang@whut.edu.cn

中图分类号: U675.91
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出版历程
- 收稿日期: 2020-09-14
- 刊出日期: 2021-02-28

A Coordinated Control Method of Longitudinal Ship Speed Based on Model Predictive Control

WU Wenxiang^{1, 2, 3
,},
CHU Xiumin^{1, 2},
LIU Chenguang^{1, 2
, ,},
MAO Wengang^{1, 2}

1.
National Engineering Research Center for Water Transport Safety, Wuhan University of Technology, Wuhan 430063, China
2.
Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan 430063, China
3.
School of Energy and Power Engineering, Wuhan University of Technology, Wuhan 430063, China

摘要

摘要: 多船协同航行在海事搜救、资源勘探、极地航运等领域中具有显著优势，其中纵向航速协同控制是实现船舶协同航行的关键。通过分析船舶螺旋桨转速、加速度与航速之间的关系，构建了考虑风力影响的船舶纵向动力模型，为实现前后船加速度与跟驰距离的关联，引用基于变时距策略的船舶间距模型。设计了考虑航速、加速度等多约束的多船航速控制目标函数，并利用模型预测控制方法实现了最优化问题的实时求解。通过Matlab进行仿真验证，结果表明，提出的基于模型预测控制方法的船舶纵向航速协同控制方法在前船加速、减速、匀速等工况下，后船均能实现对前船的精确稳定跟驰，其距离跟踪误差分别为0.092 5 m，0.192 8 m，0.166 2 m，与PID方法相比具有更好的收敛性、跟踪精度和抗干扰能力。
- 多船协同控制 /
- 变时距 /
- 模型预测控制 /
- 纵向动力模型 /
- 间距模型 /
- 航速控制
Abstract: Multi-vessel cooperative navigation has significant advantages in maritime search and rescue, resource exploration, and polar shipping. Cooperative control of longitudinal speed is the key to realizing cooperative navigation of ships. A longitudinal dynamics model of the ship considering influences of wind is constructed by analyzing the relationship among ship propeller speed, acceleration, and speed. A ship spacing model based on the variable time-distance strategy is invoked to realize the correlation between the acceleration and following distance of the front and rear ships. After designing the multi-ship speed-control objective function considering multiple constraints such as speed and acceleration, the optimization problem is solved in real-time using the method. Finally, the simulation is verified by Matlab. The results show that the proposed cooperative control method of longitudinal ship speed, based on the model predictive control method, can stably follow the front ship under the working conditions of acceleration, deceleration, and uniform speed. Its distance tracking errors are 0.092 5, 0.192 8, and 0.166 2 m, respectively. Compared with the PID method, the proposed method has better convergence, tracking accuracy, and anti-interference ability.
- multi-ship cooperative control /
- variable spacing distance strategy /
- model predictive control /
- longitudinal power model /
- spacing model /
- speed control

HTML全文

图 1 船舶跟驰示意图

Figure 1. Ship following

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图 2 预报仿真

Figure 2. Forecast simulation

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图 3 船舶跟驰期望距离与实际距离

Figure 3. Expected and actual distances of ship following

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图 4 前船速度与主船速度

Figure 4. Speeds of the forward and lead ships

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图 5 前船加速度与主船加速度

Figure 5. Accelerated speeds of the forward and lead ships

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图 6 主船螺旋桨转速

Figure 6. Propeller speed of the lead ship

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图 7 船舶跟驰期望距离与实际距离

Figure 7. Expected and actual distances of ship following

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图 8 前船速度与主船速度

Figure 8. Speeds of the forward and lead ships

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图 9 前船加速度与主船加速度

Figure 9. Accelerated speeds of the forward and lead ships

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图 10 主船螺旋桨转速

Figure 10. Propeller speed of the lead ship

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图 11 船舶跟驰期望距离与实际距离

Figure 11. Expected and actual distances of ship following

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图 12 前船速度与主船速度

Figure 12. Speeds of the forward and lead ships

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图 13 前船加速度与主船加速度

Figure 13. Accelerated speeds of the forward and lead ships

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图 14 主船螺旋桨转速

Figure 14. Propeller speed of the lead ship

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图 15 船舶跟驰期望距离与实际距离

Figure 15. Expected and actual distances of ship following

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图 16 前船速度与主船速度

Figure 16. Speeds of the forward and lead ships

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图 17 前船加速度与主船加速度

Figure 17. Accelerated speeds of the forward and lead ships

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图 18 主船螺旋桨转速

Figure 18. Propeller speed of the lead ship

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图 19 船舶跟驰期望距离与实际距离

Figure 19. Expected distance and actual distance of ship following

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图 20 前船速度与主船速度

Figure 20. Speeds of the forward and lead ships

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图 21 前船加速度与主船加速度

Figure 21. Accelerated speeds of the forward and lead ships

下载: 全尺寸图片幻灯片

图 22 主船螺旋桨转速

Figure 22. Propeller speed of the lead ship

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图 23 船舶跟驰期望距离与实际距离

Figure 23. Expected and actual distances of ship following

下载: 全尺寸图片幻灯片

图 24 前船速度与主船速度

Figure 24. Speeds of the forward and lead ships

下载: 全尺寸图片幻灯片

图 25 前船加速度与主船加速度

Figure 25. Accelerated speeds of the forward and lead ships

下载: 全尺寸图片幻灯片

图 26 主船螺旋桨转速

Figure 26. Propeller speed of the lead ship

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表 1 仿真结果

Table 1. Simulation results

性能指标	前船做加速运动		前船做减速运动		前船做匀速运动
性能指标	MPC	PID	MPC	PID	MPC	PID
收敛速度/s	108	120	20	60	20	140
平均误差/m	2.114 5	3.369 2	0.814 8	1.574 7	0.692 5	2.325 8
收敛后的平均误差/m	0.092 5	0.163 6	0.192 8	0.244 1	0.166 2	0.277 4

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