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Virtual guide ship automatic berthing control method based on adaptive dynamic programming algorithm

A technology of dynamic programming algorithm and control method, which is applied in non-electric variable control, two-dimensional position/channel control, control/regulation system, etc., and can solve the problems of known model dynamics and high computational complexity.

Active Publication Date: 2020-11-03
DALIAN MARITIME UNIVERSITY
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Problems solved by technology

However, these methods have problems such as the need to know the model dynamics and the high computational complexity in engineering practice.

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  • Virtual guide ship automatic berthing control method based on adaptive dynamic programming algorithm
  • Virtual guide ship automatic berthing control method based on adaptive dynamic programming algorithm
  • Virtual guide ship automatic berthing control method based on adaptive dynamic programming algorithm

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Embodiment Construction

[0089] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0090] It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate ...

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Abstract

The invention provides a virtual guide ship automatic berthing control method based on a self-adaptive dynamic programming algorithm. The method comprises the steps: establishing a ship berthing nonlinear control system mathematical model; introducing a virtual guidance system based on the established ship berthing nonlinear control system mathematical model to obtain an optimal controller, and converting a berthing control problem into a tracking control problem; based on the optimal controller, establishing an optimal berthing evaluation index; converting a tracking control problem into an optimal adjustment problem; designing optimal berthing control of the ship based on an adaptive dynamic planning method, and approaching an optimal berthing evaluation index; and executing optimal berthing control of the ship through the neural network to obtain an optimal berthing control law. According to the technical scheme, the problem of automatic berthing of the ship with an unknown model dynamic state is solved, the energy consumption of the controller is effectively reduced, and the ship tracking precision is improved, so that the optimal berthing path is obtained.

Description

technical field [0001] The invention relates to the technical field of ship control, in particular to a method for controlling automatic berthing of a virtual guided ship based on an adaptive dynamic programming algorithm. Background technique [0002] With the development of information technology and artificial intelligence technology, unmanned ships and continuous improvement of automation, intelligent ship technology has become the mainstream direction of today's marine transportation development. Among them, automatic berthing technology is considered to be the most difficult and complicated one of the operations. When a ship berths autonomously, it not only faces greater environmental interference, but also suffers from low speed, poor rudder effect caused by wall effect, and uncertain model dynamics. Therefore, the autonomous berthing control of ships is a major issue in the field of ship automatic control. problem. In view of the problems existing in the automatic ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 李铁山刘琪单麒赫于仁海肖杨高潇阳
Owner DALIAN MARITIME UNIVERSITY
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