CN-121979207-A - Ship berthing control method, device, equipment and medium

CN121979207ACN 121979207 ACN121979207 ACN 121979207ACN-121979207-A

Abstract

The invention relates to a ship berthing control method, device, equipment and medium, which belong to the technical field of intelligent shipping and ship control, wherein the ship berthing control method constructs a three-degree-of-freedom ship control model of the cooperation of a controlled ship, a guiding ship and a propelling ship, predicts the state of the controlled ship and the control input of the guiding ship and the propelling ship by adopting nonlinear prediction model control, obtains the state of the controlled ship and the control input of the guiding ship and the propelling ship at the next moment, constructs a cost function controlled by the nonlinear prediction model, adaptively adjusts the weight parameter of the cost function with the minimum value of the cost function as a target, obtains the optimal solution of the cost function, and controls the controlled ship based on the optimal state of the controlled ship and the optimal control input of the guiding ship and the propelling ship at the next moment so as to realize the berthing operation of the ship, thereby improving the berthing efficiency and the safety of the ship.

Inventors

XU TUYUAN
LI MENGXIA
Yuan Zhuojun
HE JINHONG
Zou Tianyue
ZHAO XINGYA

Assignees

武汉理工大学

Dates

Publication Date: 20260505
Application Date: 20260114

Claims (10)

1. A ship berthing control method, comprising: constructing a three-degree-of-freedom ship control model of the controlled ship, the guiding ship and the propelling ship, and based on the three-degree-of-freedom ship control model, a reference path for berthing the ship and the state of the controlled ship at the current moment, adopting a nonlinear prediction model to control and predict the state of the controlled ship and the control inputs of the guiding ship and the propelling ship, and obtaining the state of the controlled ship and the control inputs of the guiding ship and the propelling ship at the next moment; Constructing a cost function controlled by a nonlinear prediction model based on the state of the controlled ship, the control inputs of the guiding ship and the propelling ship at the next moment and the control inputs of the controlled ship state, the guiding ship and the propelling ship at the current moment, adaptively adjusting weight parameters of the cost function by taking the minimum value of the cost function as a target to obtain an optimal solution of the cost function, obtaining the optimal state of the controlled ship and the optimal control inputs of the guiding ship and the propelling ship at the next moment based on the optimal solution, controlling the controlled ship based on the optimal state of the controlled ship and the optimal control inputs of the guiding ship and the propelling ship at the next moment, and taking the optimal state of the controlled ship and the optimal control inputs of the guiding ship and the propelling ship at the next moment as the new state of the controlled ship at the current moment and the control inputs of the guiding ship and the propelling ship, and carrying out iterative updating to realize the berthing operation of the ship.
2. The ship berthing control method according to claim 1, wherein the three-degree-of-freedom ship maneuvering model is: , Wherein, the In order to control the mass of the ship, 、 For coefficients related to the hydrodynamic forces of the vessel in longitudinal motion, In order to be a transverse velocity, For coefficients related to the hydrodynamic forces of the vessel in lateral motions, In order to be a longitudinal velocity, In order to turn the angular velocity of the bow, In order to guide the sum of the external moments generated in the longitudinal movement by the forces exerted on the controlled vessel by the vessel and the propulsion vessel, In order to guide the sum of the external moments generated in the lateral movement by the forces exerted on the controlled vessel by the vessel and the propulsion vessel, In order to guide the sum of the external moments generated by the forces exerted on the controlled vessel by the vessel and the propulsion vessel on a bow-tie motion, To turn the derivative of the angular velocity with respect to time, As the derivative of the lateral velocity with respect to time, As the derivative of the longitudinal speed with respect to time, In order to control the moment of inertia of the ship, Is a coefficient related to the hydrodynamic force of the ship on the bow swing.
3. The vessel berthing control method according to claim 2, wherein the state of the controlled vessel comprises a longitudinal speed, a lateral speed, a vessel position, a heading angle speed, and a yaw angle speed, and the control inputs comprise a thrust force and a thrust direction of the pilot vessel acting on the controlled vessel and a thrust force and a thrust direction of the propulsion vessel acting on the controlled vessel.
4. A ship berthing control method according to claim 3, wherein the constructing a cost function of a nonlinear predictive model control based on the controlled ship state, the control inputs of the pilot ship and the propulsion ship at the next time and the controlled ship state, the control inputs of the pilot ship and the propulsion ship at the current time comprises: Determining control input errors of the guiding ship and the propelling ship based on the control inputs of the guiding ship and the propelling ship at the next moment and the control inputs of the guiding ship and the propelling ship at the current moment; Determining a state error of the controlled ship based on the state of the controlled ship at the next moment and the state of the controlled ship at the current moment, and determining a state error of the guiding ship and the propelling ship based on the state error of the controlled ship; the power consumption of the guiding ship and the propelling ship is determined, and a cost function controlled by a nonlinear prediction model is constructed based on the control input errors, the state errors and the power consumption of the guiding ship and the propelling ship.
5. The vessel berthing control method of claim 4, wherein the cost function is: , Wherein, the As a value of the cost function, For the status error associated with the guiding vessel, For the state error associated with the propulsion vessel, As a weight for the status error associated with the lead vessel, As a weight for the status error associated with the propulsion vessel, In order to guide the control input error of the ship, In order to advance the control input error of the ship, To guide the weight of the control input error of the ship, To advance the weight of the control input error of the ship, To guide the weight of the power consumption of the ship, To weigh the power consumption of the propulsion vessel, In order to guide the power consumption of the ship, In order to propel the ship through the power consumption, For the purpose of the transposition, Is the time of day.
6. The ship berthing control method according to claim 4, wherein the adaptively adjusting the weight parameter of the cost function with the minimum value of the cost function as a target, to obtain an optimal solution of the cost function, comprises: And inputting the weight parameters of the cost function into the built LightGBM model to obtain the optimal solution of the cost function.
7. The ship berthing control method of claim 6, wherein the inputting the weight parameters of the cost function to the built LightGBM model to obtain the optimal solution of the cost function comprises: the prediction result of LightGBM model is explained by using SHAP model.
8. A berthing control device for a ship, comprising: The prediction module is used for constructing a three-degree-of-freedom ship control model of the controlled ship, the guiding ship and the propelling ship, and based on the three-degree-of-freedom ship control model, a reference path for berthing of the ship and the state of the controlled ship at the current moment, the state of the controlled ship and the control inputs of the guiding ship and the propelling ship are predicted by adopting nonlinear prediction model control, so that the state of the controlled ship and the control inputs of the guiding ship and the propelling ship at the next moment are obtained; The system comprises a control module, a cost function generation module, a control module and a ship berthing module, wherein the control module is used for constructing a cost function controlled by a nonlinear prediction model based on the state of a controlled ship at the next moment, the control inputs of a guiding ship and a propelling ship and the control inputs of the controlled ship at the current moment, adaptively adjusting weight parameters of the cost function by taking the minimum value of the cost function as a target to obtain an optimal solution of the cost function, obtaining the optimal state of the controlled ship at the next moment and the optimal control inputs of the guiding ship and the propelling ship based on the optimal state of the controlled ship at the next moment and the optimal control inputs of the guiding ship and the propelling ship at the current moment, and carrying out iterative updating by taking the control inputs of the guiding ship and the control inputs of the controlled ship at the next moment as the state of the controlled ship and the control inputs of the guiding ship and the propelling ship at the new current moment so as to realize ship berthing operation.
9. The ship shore-based driving control equipment is characterized by comprising a memory and a processor; The memory has stored thereon a computer readable program executable by the processor; The processor, when executing the computer readable program, implements the steps of the ship berthing manoeuvre control method as claimed in any of claims 1 to 7.
10. A computer readable storage medium storing a computer readable program or instructions which when executed by a processor is capable of carrying out the steps of a vessel berthing control method according to any of the preceding claims 1-7.

Description

Ship berthing control method, device, equipment and medium Technical Field The invention relates to the technical field of intelligent shipping and ship control, in particular to a ship berthing control method, device, equipment and medium. Background Port berthing operation is one of the most dangerous operations in shipping industry, and still depends on the traditional 'strong person in-loop' mode due to the factors of complex operation scene, multiple interaction of participants, crowded navigation environment and the like, so that the problems of old working pattern, low cooperative efficiency, prominent potential safety hazard and the like of the ship-port-towing carrying triangle are caused. In the existing research, the ship shore-based driving control technology has realized remote monitoring and control, and the cooperation control technology is adopted to realize multi-ship cooperation through modes of towing, pushing and the like, however, the existing ship berthing control has the following key problems, the dynamic adaptability of the multi-ship cooperation is insufficient, the 'ship-towing-port' multi-main-body cooperation operation flow under the shore-based driving control is fuzzy, the role allocation and the task engagement are disordered, the berthing efficiency is low, the model precision is insufficient, the interference factors such as port water flow, wind power and the like are not fully considered by a ship motion model, berthing track deviation is caused, and the berthing safety of the ship is influenced. Disclosure of Invention In view of the foregoing, it is necessary to provide a method, apparatus, device and medium for controlling berthing of a ship, which are used for solving the technical problems of low berthing efficiency and low safety of the ship with multi-main-body collaborative operation. In order to solve the above problems, in a first aspect, the present invention provides a ship berthing control method, comprising: constructing a three-degree-of-freedom ship control model of the controlled ship, the guiding ship and the propelling ship, and based on the three-degree-of-freedom ship control model, a reference path for berthing the ship and the state of the controlled ship at the current moment, adopting a nonlinear prediction model to control and predict the state of the controlled ship and the control inputs of the guiding ship and the propelling ship, and obtaining the state of the controlled ship and the control inputs of the guiding ship and the propelling ship at the next moment; Constructing a cost function controlled by a nonlinear prediction model based on the state of the controlled ship, the control inputs of the guiding ship and the propelling ship at the next moment and the control inputs of the controlled ship state, the guiding ship and the propelling ship at the current moment, adaptively adjusting weight parameters of the cost function by taking the minimum value of the cost function as a target to obtain an optimal solution of the cost function, obtaining the optimal state of the controlled ship and the optimal control inputs of the guiding ship and the propelling ship at the next moment based on the optimal solution, controlling the controlled ship based on the optimal state of the controlled ship and the optimal control inputs of the guiding ship and the propelling ship at the next moment, and taking the optimal state of the controlled ship and the optimal control inputs of the guiding ship and the propelling ship at the next moment as the new state of the controlled ship at the current moment and the control inputs of the guiding ship and the propelling ship, and carrying out iterative updating to realize the berthing operation of the ship. In one possible implementation, the three-degree-of-freedom ship steering model is: , Wherein, the In order to control the mass of the ship,、For coefficients related to the hydrodynamic forces of the vessel in longitudinal motion,In order to be a transverse velocity,For coefficients related to the hydrodynamic forces of the vessel in lateral motions,In order to be a longitudinal velocity,In order to turn the angular velocity of the bow,In order to guide the sum of the external moments generated in the longitudinal movement by the forces exerted on the controlled vessel by the vessel and the propulsion vessel,In order to guide the sum of the external moments generated in the lateral movement by the forces exerted on the controlled vessel by the vessel and the propulsion vessel,In order to guide the sum of the external moments generated by the forces exerted on the controlled vessel by the vessel and the propulsion vessel on a bow-tie motion,To turn the derivative of the angular velocity with respect to time,As the derivative of the lateral velocity with respect to time,As the derivative of the longitudinal speed with respect to time,In order to control the moment of inertia of the ship,Is a coefficient related