摘要
自主靠泊是船舶自动航行研究领域的热点。为有效解决船舶靠泊过程中的路径规划与控制问题,提出了一种基于Frenet框架的改进线性二次型调节器(LQR)控制方法和一种自适应的靠泊策略决策模型,将船舶运动控制、路径规划和靠泊策略选择相结合,实现船舶的自适应自主靠泊。首先,建立风流干扰的船舶动力学模型,根据当前风流环境与泊位的空间关系自动选择靠泊方式;然后,规划靠泊路径并利用LQR控制器实现船舶的自主靠泊。为验证控制器的有效性,在仿真实验中充分考虑靠泊过程中的船舶大漂角特性与岸壁效应。仿真实验表明:本文提出的方法对环境干扰具有良好的鲁棒性,能够根据不同工况选择不同的靠泊策略并实现船舶的自主靠泊。
Autonomous berthing is a prominent topic in ship automatic navigation research.To effectively address the challenges of path planning and control during ship berthing,this paper proposes an improved LQR control method based on the Frenet framework along with an adaptive berthing strategy decision model.The approach integrates ship motion control,path planning,and berthing strategy selection to achieve adaptive autonomous berthing.First,a ship dynamics model accounting for wind flow interference is established,and the berthing mode is automatically selected based on the spatial relationship between the current wind flow environment and the berth.Next,the berthing path is planned,and the LQR controller is utilized to enable the ship′s autonomous berthing.To verify the controller′s effectiveness,the simulation experiment fully considers the ship′s large drift angle characteristics and the shore effect during berthing.The simulation results demonstrate that the proposed method exhibits strong robustness against environmental disturbances,can select appropriate berthing strategies under varying conditions,and successfully achieves autonomous ship berthing.
作者
殷键
陈国权
Yin Jian;Chen Guoquan(Navigation College,Jimei University,Xiamen 361021,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2024年第9期227-236,共10页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金项目(51879119,52371369)
福建省自然科学基金项目(2022J01323)
福建省科技计划对外合作项目(2023I0019)
福建省科技厅智能船舶关键技术试验与检测公共平台项目(3502ZCQXT2021007)资助。