基于模型预测控制的船舶纵向航速协同控制方法  

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

作　　者：吴文祥 初秀民[1,2] 柳晨光[1,2] 毛文刚[1,2] WU Wenxiang;CHU Xiumin;LIU Chenguang;MAO Wengang(National Engineering Research Center forWater Transport Safety,Wuhan University of Technology,Wuhan 430063,China;Intelligent Transportation Systems Research Center,Wuhan University of Technology,Wuhan 430063,China;School of Energy and Power Engineering,Wuhan University of Technology,Wuhan 430063,China)

机构地区：[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

出　　处：《交通信息与安全》2021年第1期52-63,共12页Journal of Transport Information and Safety

基　　金：国家重点研发计划项目(2018YFB1600404);国家自然科学基金项目(51779202、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)资助。

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0.0925 m,0.1928 m,0.1662 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。Multi-vessel cooperative navigation has significant advantages in maritime search and rescue,resource ex⁃ploration,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 relation⁃ship 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 accel⁃eration,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 0.0925,0.1928,and 0.1662 m,respectively.Compared with the PID method,the proposed method has better convergence,tracking accuracy,and anti-interference ability.

关 键 词：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 

分 类 号：U675.91[交通运输工程—船舶及航道工程]