Tracking cruise method, system and storage medium for tugboat escort operation

Abstract

The present invention discloses a tracking cruise method, system and storage medium for tugboat escort operation, which can be widely used in the field of ship technology. The present invention obtains the distance and azimuth information of the target ship and the operating tugboat by converting the vector of the attached coordinate system into the second vector of the earth coordinate system, and constructs the error model of the operating tugboat and the target ship according to the constructed mathematical model and the second vector, and then determines the expected speed and the expected angular velocity according to the first vector and the error model by using the backstepping method including the Lyapunov function and the sliding mode control surface, and then determines the control information between the target ship and the operating tugboat according to the expected speed and the expected angular velocity, so that the tugboat can output power according to the actual situation, effectively reduce the use of tugboat fuel, and can realize automatic control, effectively reducing the workload of the driver.

Description

Technical Field

[0001] The invention relates to the field of ship technology, in particular to a tracking cruise method, system and storage medium for tugboat escort operations. Background Art

[0002] In the relevant technologies, port tugboats, as an important part of the port system, are crucial to the modernization, green construction and intelligent construction of ports. However, in the application process, traditional tugboats have the problems of high fuel consumption and heavy workload for drivers. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a tracking cruise method, system and storage medium for tugboat escort operations, which can effectively reduce the fuel usage of the tugboat and the workload of the driver.

[0004] On the one hand, an embodiment of the present invention provides a tracking cruise method for tugboat escort operations, comprising the following steps:

[0005] Obtain the distance and azimuth information of the target ship and the operating tugboat;

[0006] Construct the geodetic coordinate system and the attached coordinate system;

[0007] Determine a first vector of the distance and azimuth information in the attached body coordinate system;

[0008] Converting the first vector into a second vector in the earth coordinate system;

[0009] Construct a mathematical model of the tugboat;

[0010] constructing an error model of the operating tugboat and the target ship according to the mathematical model and the second vector;

[0011] Construct Lyapunov functions and sliding mode control surfaces;

[0012] Determine the desired velocity and the desired angular velocity using a backstepping method according to the first vector and the error model; the backstepping method includes the Lyapunov function and the sliding mode control surface;

[0013] The control information between the target ship and the operating tugboat is determined according to the expected speed and the expected angular velocity, wherein the control information includes an expected amount of propulsion force and an expected amount of steering torque of the operating tugboat.

[0014] In some embodiments, obtaining the distance and azimuth information of the target ship and the operating tugboat includes:

[0015] Acquiring pulse distances between a plurality of base stations and positioning tags, wherein the plurality of base stations are arranged on the operating tugboat, and the positioning tag is arranged on the target ship;

[0016] Determine a circle corresponding to each of the base stations, where the circle is a circle generated with the base station as the center and the pulse distance corresponding to the base station as the radius;

[0017] Determine the coordinates of the intersection of the circles corresponding to the base stations;

[0018] The distance and azimuth information of the target ship and the operating tugboat are determined according to the intersection coordinates.

[0019] In some embodiments, the plurality of base stations are respectively disposed at the stern, port and starboard positions of the operating tugboat.

[0020] In some embodiments, the Lyapunov function is as follows:

[0021]

[0022]

[0023]

[0024] in, and All represent Lyapunov functions; represents the first-order derivative of the desired velocity of the working tugboat in the x-direction in the attached coordinate system; represents the bow angle difference between the target ship and the operating tugboat; e x express The bow angle difference in the x direction in the geodetic coordinate system; e y express The bow angle difference in the y direction in the geodetic coordinate system; l xd represents the expected distance between ships in the x-direction in the attached coordinate system, Indicates l xd The first derivative of yd represents the expected distance between ships in the y direction in the attached coordinate system, Indicates l yd The first derivative of e represents the angular velocity error of the operating tugboat; v1 represents the velocity of the target ship in the y direction in the appendage coordinate system; u1 represents the velocity of the target ship in the x direction in the appendage coordinate system; r1 represents the bow angular velocity of the target ship; represents the first-order derivative of the desired angular velocity of the operating tugboat; τ r2 represents the turning moment of the operating tugboat; u2 represents the speed of the operating tugboat in the x direction in the attached coordinate system; represents the bow angle difference between the target ship and the operating tugboat; r2 represents the bow angular velocity of the operating tugboat; v2 represents the velocity of the operating tugboat in the y direction in the attached coordinate system; m 11 、m 22 and m 33 represents the inertia component of the operating tugboat; d 11 and d 33 represents the water damping component of the operating tugboat.

[0025] In some embodiments, the sliding mode control surface is as follows:

[0026]

[0027] or,

[0028]

[0029] Wherein, S represents the sliding mode control surface; λ represents the sliding mode control surface parameter; u2 represents the speed of the working tugboat in the x direction in the attached coordinate system; r2 represents the bow angular velocity of the working tugboat; v2 represents the speed of the working tugboat in the y direction in the attached coordinate system; v 2d represents the expected speed of the working tugboat in the y direction in the attached coordinate system; Indicates v 2d The first-order derivative of Indicates v e The second derivative of v e represents the speed error of the target ship in the x direction in the attached coordinate system; τ wv Represents environmental interference force; m 11 and m 22 represents the inertia component of the operating tugboat; d 22 represents the water damping component of the operating tugboat.

[0030] In some embodiments, the backstepping method is used to determine the expected speed as follows:

[0031]

[0032] Among them, u 2d represents the expected speed of the operating tugboat in the x direction in the attached coordinate system; k1 represents the sliding mode control surface parameter of the target ship; Indicates the bow angle difference between the target ship and the operating tugboat;

[0033] The backstepping method determines the expected angular velocity as follows:

[0034]

[0035] Among them, r 2d represents the desired bow angular velocity of the operating tugboat; S represents the sliding mode control surface; m 11 and m 22 represents the inertia component of the operating tugboat; Δ, ε, k and λ all represent sliding mode control surface parameters; v2 represents the speed of the operating tugboat in the y direction in the attached coordinate system; v 2d represents the expected speed of the working tugboat in the y direction in the attached coordinate system; Indicates v 2d The first derivative of ; Indicates v e The second derivative of wv represents the environmental disturbance force; u2 represents the speed of the operating tugboat in the x direction in the attached coordinate system.

[0036] In some embodiments, the control information between the target ship and the operating tugboat is determined according to the expected speed and the expected angular velocity, as follows:

[0037]

[0038]

[0039] Among them, τ u2 represents the expected amount of propulsion force of the operating tugboat; τ r2 represents the expected amount of steering torque of the operating tugboat; m 11 、m 22 and m 33 represents the inertia component of the operating tugboat; d 11 and d 33 represents the water damping component of the operating tugboat; k3 and k4 represent backstepping method parameters; u e represents the speed error of the working tugboat in the x direction in the attached coordinate system; v2 represents the speed of the working tugboat in the y direction in the attached coordinate system; r2 represents the bow angular velocity of the working tugboat; u2 represents the speed of the working tugboat in the x direction in the attached coordinate system; τ wu and τ wr Indicates environmental interference force.

[0040] On the other hand, an embodiment of the present invention provides a tracking cruise system for tugboat escort operations, comprising:

[0041] An acquisition module is used to obtain the distance and azimuth information of the target ship and the operating tugboat;

[0042] The first construction module is used to construct the earth coordinate system and the attached coordinate system;

[0043] A first determining module, used to determine a first vector of the distance and azimuth information in the attached body coordinate system;

[0044] A conversion module, used for converting the first vector into a second vector of the geodetic coordinate system;

[0045] The second building block is used to construct a mathematical model of the tugboat;

[0046] A third construction module, configured to construct an error model of the operating tugboat and the target ship according to the mathematical model and the second vector;

[0047] The fourth building block is used to construct the Lyapunov function and the sliding mode control surface;

[0048] an acquisition module, configured to determine a desired velocity and an expected angular velocity by using a backstepping method according to the first vector and the error model; the backstepping method includes the Lyapunov function and the sliding mode control surface;

[0049] The second determination module is used to determine the control information between the target ship and the operating tugboat according to the expected speed and the expected angular velocity, wherein the control information includes the expected amount of propulsion force and the expected amount of steering torque of the operating tugboat.

[0050] On the other hand, an embodiment of the present invention provides a tracking cruise system for tugboat escort operations, comprising:

[0051] at least one memory for storing a program;

[0052] At least one processor is used to load the program to execute the tracking cruise method for tugboat escort operations.

[0053] On the other hand, an embodiment of the present invention provides a storage medium, in which a computer-executable program is stored. When the computer-executable program is executed by a processor, it is used to implement the tracking and cruising method of the tugboat escort operation.

[0054] The tracking and cruising method for tugboat escort operations provided by the embodiment of the present invention has the following beneficial effects:

[0055] This embodiment obtains the distance and azimuth information of the target ship and the operating tugboat by converting the vector of the attached coordinate system into the second vector of the earth coordinate system, and constructs the error model of the operating tugboat and the target ship according to the constructed mathematical model and the second vector, and then determines the expected speed and the expected angular velocity according to the first vector and the error model by adopting the backstepping method including the Lyapunov function and the sliding mode control surface, and then determines the control information between the target ship and the operating tugboat according to the expected speed and the expected angular velocity, so that the tugboat can output power according to the actual situation, effectively reducing the fuel usage of the tugboat, and can realize automatic control, effectively reducing the workload of the driver.

[0056] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0058] Figure 1 It is a flow chart of a tracking cruising method for tugboat escort operation according to an embodiment of the present invention;

[0059] Figure 2 This is a UWB working principle diagram of an embodiment of the present invention;

[0060] Figure 3 Schematic diagram of vector conversion between an operating tugboat and a target ship according to an embodiment of the present invention. DETAILED DESCRIPTION

[0061] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0062] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0063] In the description of the present invention, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0064] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0065] In the description of the present invention, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0066] Reference Figure 1 The embodiment of the present invention provides a tracking cruise method for tugboat escort operations. The method of this embodiment can be applied to the processing end, cloud or server of the ship control platform. Specifically, in the application process, Figure 1 As shown, the method of this embodiment includes but is not limited to the following steps:

[0067] Step 110: Obtain the distance and azimuth information of the target ship and the operating tugboat.

[0068] In the embodiment of the present application, the pulse distances between several base stations installed on the working tugboat and the positioning tags installed on the target ship can be obtained, and a circle corresponding to each base station can be determined with the base station as the center and the pulse distance corresponding to the base station as the radius, and then the intersection coordinates of the circles corresponding to the base stations can be determined, and the distance and azimuth information of the target ship and the working tugboat can be determined according to the intersection coordinates. Figure 2As shown, the operating tugboat 210 places three UWB base stations 211 at the illustrated positions, that is, one UWB base station 211 is placed at the stern position, port position and starboard position of the operating tugboat, and a UWB positioning tag 221 is placed at a suitable position of the target ship 220. When the driver turns on the tracking cruise function, each UWB base station performs pulse ranging with the UWB positioning tag to obtain the distance between each base station and the positioning tag, and then draws a circle with each base station as the center and the distance between the positioning tag and the base station as the radius. The coordinates of the intersection of the three circles are the three-dimensional coordinates of the positioning tag. By converting and calculating the three-dimensional coordinates, the distance and azimuth information between the target ship and the operating tugboat can be obtained.

[0069] Step 120: construct the earth coordinate system and the attached coordinate system. Specifically, the attached coordinate system is also called the hull coordinate system, in which the acceleration and angular acceleration vectors of the ship can be seen; the earth coordinate system is used to reflect the true distance and true speed between the target ship and the tugboat, thereby obtaining the speed difference vector and distance difference vector between the target ship and the tugboat.

[0070] Step 130: Determine the first vector of the distance and azimuth information in the attached coordinate system, and convert the first vector into a second vector in the earth coordinate system. Figure 3 The vector conversion diagram shown is converted.

[0071] Step 140: construct a mathematical model of the tugboat. Specifically, the mathematical model can be determined by collecting data on the operating tugboat and conducting experiments on the operating tugboat to determine a data model that conforms to the current state. The mathematical model includes a kinematic model and a dynamic model.

[0072] In the embodiment of the present application, the ship position state vector is E -X E Y E Z E The coordinate system can be expressed as η = [xyz] T By taking the time derivative of the vector η1, we can know that the ship velocity vector v in the ship coordinate system is [uvw] T The relationship is shown in formula (1):

[0073]

[0074] in is the transformation matrix between the earth coordinate system and the hull coordinate system, and v represents the velocity in the y direction in the appendage coordinate system.

[0075] The simplified three-degree-of-freedom underactuated ship dynamics model can be expressed as shown in formula (2):

[0076]

[0077] Where M is the inertia matrix of the ship; C(v) is the Coriolis and centripetal force matrix; D is the damping parameter matrix; τ = [τ u 0τ r ] T is the control force and torque of the ship, τ u and τ r They represent the longitudinal propulsion force and steering torque of the ship respectively. Since it is an underdriven ship, τ v =0; τ = [τ wu τ wv τ wr ] T Represents the external time-varying interference of the position in the ship coordinate system.

[0078] The expressions of M, C(v), and D are shown in formula (3), formula (4), formula (5), and formula (6), respectively:

[0079]

[0080]

[0081]

[0082]

[0083] in, d 11 =-X u , d 22 = -Y,d 33 =-N r m is the mass of the ship; I z is the moment of inertia; etc. are the hydrodynamic derivatives.

[0084] The mathematical model of the underdriven ship can also be simplified into the following formula (7):

[0085]

[0086] Step 150: construct an error model of the operating tugboat and the target ship according to the mathematical model and the second vector. Specifically, the error model is shown in formula (8):

[0087]

[0088] in, express The first derivative of the bow angle difference in the x direction in the geodetic coordinate system; express The first derivative of the bow angle difference in the y direction in the geodetic coordinate system; express The first derivative of ; represents the first-order derivative of u2; represents the first-order derivative of v2; represents the first-order derivative of r2; e y express The bow angle difference in the y direction in the geodetic coordinate system; l xd represents the expected distance between ships in the x-direction in the attached coordinate system, Indicates l xd The first derivative of yd represents the expected distance between ships in the y direction in the attached coordinate system, Indicates l yd The first derivative of e represents the angular velocity error of the target ship; v1 represents the velocity of the target ship in the y direction in the appendage coordinate system; u1 represents the velocity of the target ship in the x direction in the appendage coordinate system; r1 represents the bow angular velocity of the target ship; u2 represents the velocity of the operating tugboat in the x direction in the appendage coordinate system; represents the bow angle difference between the target ship and the operating tugboat; v2 represents the speed of the operating tugboat in the y direction in the attached coordinate system; r1 represents the bow angular velocity of the target ship; r2 represents the bow angular velocity of the operating tugboat; τ u2 represents the expected amount of propulsion force of the operating tugboat; τ r2 represents the expected amount of steering torque of the operating tugboat; m 11 、m 22 and m 33 represents the inertia component of the operating tugboat; d 11 d 22 and d 33 represents the water damping component of the operating tugboat.

[0089] Step 160: construct a Lyapunov function and a sliding mode control surface.

[0090] In the embodiment of the present application, the Lyapunov function is shown in formula (9), formula (10) and formula (11):

[0091]

[0092]

[0093]

[0094] in, and All represent Lyapunov functions; represents the first-order derivative of the desired velocity of the working tugboat in the x-direction in the attached coordinate system; represents the bow angle difference between the target ship and the operating tugboat; e x express The bow angle difference in the x direction in the geodetic coordinate system; e y express The bow angle difference in the y direction in the geodetic coordinate system; l xd represents the expected distance between ships in the x-direction in the attached coordinate system, Indicates l xd The first derivative of yd represents the expected distance between ships in the y direction in the attached coordinate system, Indicates l yd The first derivative of e represents the angular velocity error of the operating tugboat; v1 represents the velocity of the target ship in the y direction in the appendage coordinate system; u1 represents the velocity of the target ship in the x direction in the appendage coordinate system; r1 represents the bow angular velocity of the target ship; represents the first-order derivative of the desired angular velocity of the operating tugboat; τ r2 represents the turning moment of the operating tugboat; u2 represents the speed of the operating tugboat in the x direction in the attached coordinate system; represents the bow angle difference between the target ship and the operating tugboat; r2 represents the bow angular velocity of the operating tugboat; v2 represents the velocity of the operating tugboat in the y direction in the attached coordinate system; m 11 、m 22 and m 33 represents the inertia component of the operating tugboat; d 11 and d 33 represents the water damping component of the operating tugboat.

[0095] The sliding mode control surface is shown in formula (12) or formula (13):

[0096]

[0097]

[0098] Wherein, S represents the sliding mode control surface; λ represents the sliding mode control surface parameter; u2 represents the speed of the working tugboat in the x direction in the attached coordinate system; r2 represents the bow angular velocity of the working tugboat; v2 represents the speed of the working tugboat in the y direction in the attached coordinate system; v 2d represents the expected speed of the working tugboat in the y direction in the attached coordinate system; Indicates v 2d The first-order derivative of Indicates v e The second derivative of v e represents the speed error of the target ship in the x direction in the attached coordinate system; τ wv Represents environmental interference force; m 11 and m 22 represents the inertia component of the operating tugboat; d 22 represents the water damping component of the operating tugboat.

[0099] Step 170: Determine the desired velocity and the desired angular velocity using a backstepping method according to the first vector and the error model; the backstepping method includes the Lyapunov function and the sliding mode control surface.

[0100] In the embodiment of the present application, the backstepping method is used to determine the expected speed as shown in formula (14):

[0101]

[0102] Among them, u 2d represents the expected speed of the operating tugboat in the x direction in the geodetic coordinate system; k1 represents the sliding mode control surface parameter of the target ship; Indicates the bow angle difference between the target ship and the operating tugboat.

[0103] The backstepping method determines the expected angular velocity as shown in formula (15):

[0104]

[0105] Among them, r 2d represents the desired bow angular velocity of the operating tugboat; S represents the sliding mode control surface; m 11 and m 22 represents the inertia component of the operating tugboat; Δ, ε, k and λ all represent sliding mode control surface parameters; v2 represents the speed of the operating tugboat in the y direction in the attached coordinate system; v 2d represents the expected speed of the working tugboat in the y direction in the attached coordinate system; Indicates v 2d The first derivative of ; Indicates v eThe second derivative of wv represents the environmental disturbance force; u2 represents the speed of the operating tugboat in the x direction in the attached coordinate system.

[0106] Step 180: Determine control information between the target ship and the operating tugboat according to the expected speed and the expected angular velocity, wherein the control information includes an expected amount of propulsion force and an expected amount of steering torque of the operating tugboat.

[0107] In the embodiment of the present application, the control information between the target ship and the operating tugboat is determined according to the expected speed and the expected angular velocity by formula (16) and formula (17):

[0108]

[0109]

[0110] Among them, τ u2 represents the expected amount of propulsion force of the operating tugboat; τ r2 represents the expected amount of steering torque of the operating tugboat; m 11 、m 22 and m 33 represents the inertia component of the operating tugboat; d 11 and d 33 represents the water damping component of the operating tugboat; k3 and k4 represent backstepping method parameters; u e represents the speed error of the working tugboat in the x direction in the attached coordinate system; v2 represents the speed of the working tugboat in the y direction in the attached coordinate system; r2 represents the bow angular velocity of the working tugboat; u2 represents the speed of the working tugboat in the x direction in the attached coordinate system; τ wu and τ wr Indicates environmental interference force.

[0111] In summary, during the application of the method of this embodiment, the operating tugboat performing the escort mission is driven by the driver to the target escort position with the target ship and maintains a certain angle and speed; when performing the escort mission and there is no obvious risk in the navigation environment, the driver can choose to turn on the tracking cruise model; after the system is started, the UWB system starts to measure the position of the target ship, and uses the angle and distance with the target ship before the function is turned on as the expected amount of the tugboat operation, and then transmits the distance information to the control component in real time; the control component converts the real-time distance information into a speed error, and calculates the expected speed and expected angular velocity of the operating tugboat through the control algorithm; the expected value is converted into the torque information required by the tugboat power component and executed by the tugboat power component; the operating tugboat can complete the escort mission for the target ship without the driver driving.

[0112] The embodiment of the present invention provides a tracking cruise system for tugboat escort operations, including:

[0113] An acquisition module is used to obtain the distance and azimuth information of the target ship and the operating tugboat;

[0114] The first construction module is used to construct the earth coordinate system and the attached coordinate system;

[0115] A first determining module, used to determine a first vector of the distance and azimuth information in the attached body coordinate system;

[0116] A conversion module, used for converting the first vector into a second vector of the geodetic coordinate system;

[0117] The second building block is used to construct a mathematical model of the tugboat;

[0118] A third construction module, configured to construct an error model of the operating tugboat and the target ship according to the mathematical model and the second vector;

[0119] The fourth building block is used to construct the Lyapunov function and the sliding mode control surface;

[0120] an acquisition module, configured to determine a desired velocity and an expected angular velocity by using a backstepping method according to the first vector and the error model; the backstepping method includes the Lyapunov function and the sliding mode control surface;

[0121] The second determination module is used to determine the control information between the target ship and the operating tugboat according to the expected speed and the expected angular velocity, wherein the control information includes the expected amount of propulsion force and the expected amount of steering torque of the operating tugboat.

[0122] The contents of the method embodiments of the present invention are all applicable to the system embodiments. The functions specifically implemented by the system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method.

[0123] The embodiment of the present invention provides a tracking cruise system for tugboat escort operations, including:

[0124] at least one memory for storing a program;

[0125] At least one processor for loading the program to execute Figure 1 The tracking cruising method of the tugboat escort operation is shown.

[0126] The contents of the method embodiments of the present invention are all applicable to the system embodiments. The functions specifically implemented by the system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method.

[0127] An embodiment of the present invention provides a storage medium, wherein a computer executable program is stored, and when the computer executable program is executed by a processor, it is used to implement Figure 1 The tracking cruising method of the tugboat escort operation is shown.

[0128] The embodiment of the present invention further provides a computer program product or a computer program, wherein the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes Figure 1 The tracking cruising method of the tugboat escort operation is shown.

[0129] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A tracking and cruising method for tugboat escort operations, It is characterized in that The following steps are involved: Obtain the distance and azimuth information of the target ship and the operating tugboat; Construct the geodetic coordinate system and the attached coordinate system; Determine a first vector of the distance and azimuth information in the attached body coordinate system; Converting the first vector into a second vector in the earth coordinate system; Construct a mathematical model of the tugboat; constructing an error model of the operating tugboat and the target ship according to the mathematical model and the second vector; Construct Lyapunov functions and sliding mode control surfaces; Determine the desired velocity and the desired angular velocity using a backstepping method according to the first vector and the error model; the backstepping method includes the Lyapunov function and the sliding mode control surface; The control information between the target ship and the operating tugboat is determined according to the expected speed and the expected angular velocity, wherein the control information includes an expected amount of propulsion force and an expected amount of steering torque of the operating tugboat.

2. A tracking cruising method for tugboat escort operations according to claim 1, It is characterized in that The obtaining of the distance and azimuth information of the target ship and the operating tugboat includes: Acquiring pulse distances between a plurality of base stations and positioning tags, wherein the plurality of base stations are arranged on the operating tugboat, and the positioning tag is arranged on the target ship; Determine a circle corresponding to each of the base stations, where the circle is a circle generated with the base station as the center and the pulse distance corresponding to the base station as the radius; Determine the coordinates of the intersection of the circles corresponding to the base stations; The distance and azimuth information of the target ship and the operating tugboat are determined according to the intersection coordinates.

3. A tracking cruising method for tugboat escort operations according to claim 2, It is characterized in that The plurality of base stations are respectively arranged at the stern, port and starboard positions of the operating tugboat.

4. A tracking cruising method for tugboat escort operations according to claim 1, It is characterized in that The Lyapunov function is as follows: in, and All represent Lyapunov functions; represents the first-order derivative of the desired velocity of the working tugboat in the x-direction in the attached coordinate system; represents the bow angle difference between the target ship and the operating tugboat; e x express The bow angle difference in the x direction in the geodetic coordinate system; e y express The bow angle difference in the y direction in the geodetic coordinate system; l xd represents the expected distance between ships in the x-direction in the attached coordinate system, Indicates l xd The first derivative of yd represents the expected distance between ships in the y direction in the attached coordinate system, Indicates l yd The first derivative of e represents the angular velocity error of the operating tugboat; v 1 represents the speed of the target ship in the y direction in the attached coordinate system; u 1 represents the speed of the target ship in the x direction in the attached coordinate system; r 1 represents the bow angular velocity of the target ship; represents the first-order derivative of the desired angular velocity of the operating tugboat; τ r2 Indicates the turning moment of the tugboat; u 2 represents the speed of the working tugboat in the x direction in the attached coordinate system; represents the bow angle difference between the target ship and the operating tugboat; r 2 represents the bow angular velocity of the operating tugboat; v 2 represents the speed of the working tugboat in the y direction in the attached coordinate system; m 11 、m 22 and m 33 represents the inertia component of the operating tugboat; d 11 and d 33 represents the water damping component of the operating tugboat.

5. A tracking cruising method for tugboat escort operations according to claim 4, It is characterized in that The sliding mode control surface is as follows: or, Where S represents the sliding mode control surface; λ represents the sliding mode control surface parameter; u 2 represents the speed of the working tugboat in the x direction in the attached coordinate system; r 2 represents the bow angular velocity of the operating tugboat; v 2 represents the speed of the working tugboat in the y direction in the attached coordinate system; v 2d represents the expected speed of the working tugboat in the y direction in the attached coordinate system; Indicates v 2d The first-order derivative of Indicates v e The second derivative of v e represents the speed error of the target ship in the x direction in the attached coordinate system; τ wv Represents environmental interference force; m 11 and m 22 represents the inertia component of the operating tugboat; d 22 represents the water damping component of the operating tugboat.

6. A tracking cruising method for tugboat escort operations according to claim 5, It is characterized in that The backstepping method is used to determine the expected speed as follows: Among them, u 2d k represents the expected speed of the working tugboat in the x direction in the attached coordinate system; 1 represents the sliding mode control surface parameters of the target ship; Indicates the bow angle difference between the target ship and the operating tugboat; The backstepping method determines the expected angular velocity as follows: Among them, r 2d represents the desired bow angular velocity of the operating tugboat; S represents the sliding mode control surface; m 11 and m 22 represents the inertia component of the operating tugboat; Δ, ε, k and λ all represent sliding mode control surface parameters; v 2 represents the speed of the working tugboat in the y direction in the attached coordinate system; v 2d represents the expected speed of the working tugboat in the y direction in the attached coordinate system; Indicates v 2d The first derivative of ; Indicates v e The second derivative of wv represents the environmental interference force; u 2 represents the speed of the working tugboat in the x direction in the attached coordinate system.

7. A tracking cruising method for tugboat escort operations according to claim 6, It is characterized in that The control information between the target ship and the operating tugboat is determined according to the expected speed and the expected angular velocity, as follows: Among them, τ u2 represents the expected amount of propulsion force of the operating tugboat; τ r2 represents the expected amount of steering torque of the operating tugboat; m 11 、m 22 and m 33 represents the inertia component of the operating tugboat; d 11 and d 33 represents the water damping component of the operating tugboat; k 3 and k 4 represents the backstepping parameter; u e represents the speed error of the operating tugboat in the x direction in the attached coordinate system; v 2 represents the speed of the working tugboat in the y direction in the attached coordinate system; r 2 represents the bow angular velocity of the operating tugboat; u 2 represents the speed of the working tugboat in the x direction in the attached coordinate system; τ wu and τ wr Indicates environmental interference force.

8. A tracking cruise system for tugboat escort operations, It is characterized in that include: An acquisition module is used to obtain the distance and azimuth information of the target ship and the operating tugboat; The first construction module is used to construct the earth coordinate system and the attached coordinate system; A first determining module, used to determine a first vector of the distance and azimuth information in the attached body coordinate system; A conversion module, used for converting the first vector into a second vector of the geodetic coordinate system; The second building block is used to construct a mathematical model of the tugboat; A third construction module, configured to construct an error model of the operating tugboat and the target ship according to the mathematical model and the second vector; The fourth building block is used to construct the Lyapunov function and the sliding mode control surface; an acquisition module, configured to determine a desired velocity and an expected angular velocity by using a backstepping method according to the first vector and the error model; the backstepping method includes the Lyapunov function and the sliding mode control surface; The second determination module is used to determine the control information between the target ship and the operating tugboat according to the expected speed and the expected angular velocity, wherein the control information includes the expected amount of propulsion force and the expected amount of steering torque of the operating tugboat.

9. A tracking cruise system for tugboat escort operations, It is characterized in that include: at least one memory for storing a program; At least one processor is used to load the program to execute the tracking cruising method for tugboat escort operations as described in any one of claims 1-7.

10. A storage medium, It is characterized in that A computer executable program is stored therein, and when the computer executable program is executed by a processor, it is used to implement the tracking and cruising method for tugboat escort operations as described in any one of claims 1-7.

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