基于分层MPC的多拖轮带缆自主伴航控制策略研究  

Research on autonomous accompany navigation control of multi-tug based on hierarchical MPC

作　　者：郝致远 王健[1] 赵冰 张博 路百松 易宏[1,3] HAO Zhiyuan;WANG Jian;ZHAO Bing;ZHANG Bo;LU Baisong;YI Hong(Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education,Shanghai Jiao Tong University,Shanghai 200240,China;Shandong Port Group Rizhao Port Group Co.,Ltd.,Rizhao 276800,China;Rizhao Marine Intelligent Equipment Research Institute,Shanghai Jiao Tong University,Rizhao 276800,China)

机构地区：[1]上海交通大学海洋智能装备与系统教育部重点实验室,上海200240 [2]山东港口日照港集团有限公司,山东日照276800 [3]上海交大日照海洋智能装备研究院,山东日照276800

出　　处：《舰船科学技术》2025年第6期13-20,共8页Ship Science and Technology

基　　金：山东省重点研发计划(2021SFGC0601)。

摘　　要：本文针对多艘拖轮对海上大型船舶进行带缆伴航的问题,提出一种基于分层模型预测控制的带缆自主伴航控制策略。在顶层考虑带缆伴航安全性约束,设计基于多约束MPC的轨迹规划器以规划安全的拖轮伴航轨迹,并提出前置预优化机制解决多安全性约束下的初始解猜测问题。在底层基于双全回转推进器特性设计轨迹跟踪控制器,控制拖轮跟踪顶层规划的安全轨迹,实现多拖轮带缆自主伴航控制。仿真试验结果表明,所提控制策略可以实现安全的多拖轮带缆自主伴航控制,可为拖轮自主伴航的应用提供理论参考。This article proposes an autonomous navigation control strategy with towline constraints considered based on hierarchical model predictive control for the problem of multi-tug accompanying large ships.At the top level,considering the safety constraints introduced by towlines,a trajectory planner based on multi constraint MPC is designed to plan a safe navigation trajectory,and a pre optimization mechanism is proposed to solve the initial point guessing problem under multiple safety constraints.A trajectory tracking controller based on the layout mode of dual azimuth thrusters at the bottom layer is designed to control the tugboats following the trajectory planned by top-level,and achieve autonomous navigation control of multi-tug.The simulation results show that the control strategy proposed can achieve safe autonomous navigation control of multi-tug with towline constraints considered.

关 键 词：多拖轮 模型预测控制 伴航控制 轨迹规划 轨迹跟踪控制 

分 类 号：U664.82[交通运输工程—船舶及航道工程]