摘要
针对大型船舶航速低时乘潮历时长、航速高时下沉量大的问题,本文提出了一种乘潮潮时和下沉量双重约束的智能船舶安全航速自适应控制方法。通过对比分析不同航速推算公式,引入BarrassⅡ型公式,研究了船舶航行下沉量与最大安全航速的关系。基于四自由度船舶运动模型,结合富裕水深和乘潮航行需求,构建了动态安全航速约束框架。通过动态约束与非线性模型预测控制,设计了安全航速约束的代价函数,并使用Lyapunov函数证明稳定性,实现了在内河水深吃水比受限情况下的航速自适应控制。在长江吴淞口仿真环境中,验证了控制器的有效性,5种增益矩阵下的平均乘潮路程完成率为98.84%,且控制器能根据船舶运动状态和环境调整航速,始终保持在安全范围内。所提出方法能根据水深实现动态航速控制,并满足大型船舶乘潮航行需求。
This study proposes an adaptive control method for intelligent ship safety speeds to address the issues of long tidal durations at low speeds and excessive sinkage at high speeds.To investigate the relationship between sinkage and maximum safe speed,the Barrass II formula was introduced through a comparative analysis of various speed prediction formulas.A dynamic safety speed-constraint framework was established on the basis of a four-degree-of-freedom ship-motion model,considering the under-keel clearance and tidal navigation requirements.A cost function for speed constraints was designed using dynamic constraints and a nonlinear model predictive control method,and its stability was rigorously proven using the Lyapunov function.The proposed control method was thoroughly validated in a simulation environment in the Wu Songkou area of the Yangtze River,with an average tidalroute completion rate of 98.84%.The controller autonomously adjusts the ship′s speed according to its motion state and environmental conditions,ensuring that the vessel remains within safe speed limits throughout its journey.The proposed method effectively meets the tidal navigation needs of large vessels while dynamically controlling the speed based on the water depth.
作者
吴兵
苏鑫
刘佳仑
WU Bing;SU Xin;LIU Jialun(State Key Laboratory of Maritime Technology and Safety,Wuhan University of Technology,Wuhan 430063,China;Intelligent Transportation Systems Research Centre,Wuhan University of Technology,Wuhan 430063,China;National Engineering Research Center for Water Transport Safety,Wuhan University of Technology,Wuhan 430063,China;School of Transportation and Logistics Engineering,Wuhan 430063,China)
出处
《哈尔滨工程大学学报》
北大核心
2025年第7期1349-1356,共8页
Journal of Harbin Engineering University
基金
国家重点研发计划(2023YFB4301802)
国家自然科学基金项目(52272422)。
关键词
智能船舶
船舶下沉量
乘潮航行
动态约束
安全航速
自适应控制
非线性模型预测控制
轨迹跟踪
intelligent ship
ship subsidence
tidal navigation
dynamic constraints
safe speed
adaptive control
nonlinear model predictive control
trajectory tracking
