A tugboat swarm adaptive control method for unmanned towage operations in port areas
An adaptive control and operation technology, applied in two-dimensional position/channel control, control/regulation system, non-electric variable control, etc., can solve the problems of great difference between ship damping coefficient and deep water, high risk, and complicated operation , to achieve the effect of stable and intelligent towing operation
Active Publication Date: 2022-05-27
SHANGHAI JIAOTONG UNIV
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Problems solved by technology
[0003] However, the traditional manual towing operation procedures are cumbersome, complicated, risky, and inefficient. It is gradually not enough to meet the increasing demands of towing operations. In the port area, due to the water depth, the damping coefficient of the ship is different from that in deep water. It is very large, and the maneuverability of the ship is reduced again, and there is an urgent need for a more intelligent and efficient towing operation method
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[0038] The present invention will be further described in detail below with reference to the accompanying drawings.
[0039] Traditional towing operations mostly rely on the experience of captains and pilots to respond to on-site responses. This maneuvering method is difficult to accurately set and control the route during towing, and may also increase the risk of towing. At the same time, the pilot sends instructions to multiple tugboat captains through the pager. There is a certain delay between the completion of the instruction one by one and the completion of the corresponding towing action by each tugboat. Such a delay is easy to cause in increasingly busy routes and seaports. ACCIDENT. Therefore, in view of the inability of traditional manual towing operations to overcome the shortcomings of cumbersome procedures, complicated operations, high risks, and low efficiency, it is of great significance to study the collaborative towing operation system of unmanned tugboat clus...
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The invention discloses a tugboat cluster adaptive control method for unmanned towage operations in the port area, which solves the traditional manual towage operation procedures that are cumbersome, complicated to operate, high in risk, low in efficiency, and reduce the operability of ships in the port area again The main points of the technical solution include the following steps: according to the destination of the towing operation of the towed mother ship, an expected towed trajectory of the towed mother ship is obtained by calculating through the open-loop low-pass filtering method; According to the backstepping method controller of the towed mother ship, the deviation between the current position of the towed mother ship and the expected towing track is calculated to obtain the thrust resultant force that needs to act on the towed mother ship; Direction; each tugboat tows according to the obtained thrust size and direction, and a tugboat cluster adaptive control method for unmanned towage operation in the port area of the present invention can realize adaptive control towage in the port area, and the towage is more efficient. Efficient and intelligent.
Description
technical field [0001] The invention relates to the field of marine engineering, in particular to a tugboat cluster adaptive control method for unmanned towing operations in port areas. Background technique [0002] With the development of the global shipping industry and the increase of navigation density, the towing business has also entered a busy stage. At the same time, ships are gradually developing into large-scale, and it is difficult to maneuver under special conditions such as entering and leaving ports, docking and leaving docks, and it is necessary to use tugboats to assist in maneuvering the ship. The sea salvage of barges without self-propelled capability or ships without self-propelled capability also needs to be towed. In addition, the transfer of offshore drilling platforms also relies on tugboat towing operations. [0003] However, the traditional manual towing operation procedures are cumbersome, complicated to operate, risky and inefficient, and are gra...
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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 王磊蒋旭贺华成于特
Owner SHANGHAI JIAOTONG UNIV