基于MPC-IMFAC的船舶路径跟随控制方法研究  

Ship path-following control method based on MPC-IMFAC

作　　者：李诗杰 刘泰序 刘佳仑[1,3,4] 徐诚祺 何家伟 LI Shijie;LIU Taixu;LIU Jialun;XU Chengqi;HE Jiawei(State Key Laboratory of Maritime Technology and Safety,Wuhan 430063,China;School of Transportation and Logistics Engineering,Wuhan University of Technology,Wuhan 430063,China;Intelligent Transportation Systems Research Center,Wuhan University of Technology,Wuhan 430063,China;National Engineering Research Center for Water Transport Safety,Wuhan 430063,China)

机构地区：[1]水路交通控制全国重点实验室(武汉理工大学),湖北武汉430063 [2]武汉理工大学交通与物流工程学院,湖北武汉430063 [3]武汉理工大学智能交通系统研究中心,湖北武汉430063 [4]国家水运安全工程技术研究中心,湖北武汉430063

出　　处：《中国舰船研究》2025年第1期317-325,共9页Chinese Journal of Ship Research

基　　金：国家重点研发计划资助项目(2022YFE0125200);国家自然科学基金资助项目(62003250,52272425)。

摘　　要：[目的]旨在解决环境干扰和模型不确定性下的路径跟随控制问题,特别是外部风浪环境对船舶路径跟随控制的影响。[方法]在模型预测控制(MPC)控制器的基础上,引入改进无模型自适应控制(IMFAC)作为路径跟随控制补偿器,修正船舶状态与预测状态之间的误差,以解决在突发横风和外部存在风浪等环境干扰下的模型精度不足问题,从而提高路径跟随控制精度。并以缩比KVLCC2船模为对象进行船舶路径跟随控制仿真实验。[结果]仿真结果表明,与传统MPC控制相比,MPC-IMFAC方法使船舶在突发干扰下最大绝对航向误差降低25.4%。在时变环境干扰下绝对航向平均误差减少2.6%。[结论]研究表明,该控制方法在确保路径跟随控制精度的基础上,具备较好的抗干扰能力。[Objective]This study aims to solve the problem of path-following control under environmental disturbances and model uncertainties,especially the effects of external wind and wave environments.[Method]Based on a model predictive control(MPC)controller,improved model-free adaptive control(IMFAC)is introduced as the path following control compensator.The error between the ship's actual state and predicted state is corrected to solve the problem of the insufficient accuracy of the model under environmental disturbances such as sudden crosswinds and external wind waves,thereby improving the precision of path-following control.[Results]Ship path-following control simulation experiments are conducted with a scaled-down KVLCC2 ship model.As the results show,compared with traditional MPC control,the MPC-IMFAC method reduces the maximum absolute heading error of the ship by 25.4%under sudden disturbances,and the average absolute heading error decreases by 2.6%under time-varying environmental disturbances.[Conclusion]The simulation results verify that this control method possesses superior anti-interference ability while ensuring path-following control accuracy.

关 键 词：路径跟随控制 模型预测控制 无模型自适应控制 操纵性 运动控制 自适应控制系统 

分 类 号：U664.82[交通运输工程—船舶及航道工程]