Ship control methods, systems, equipment, products and media considering roll constraints

Abstract

This invention relates to the field of ship control, providing ship control methods, systems, equipment, products, and media that consider roll constraints. The methods include: establishing a continuous state-space model of the ship based on its equations of motion; establishing a ship motion observer to obtain the ship's motion parameters; discretizing the continuous state-space model to obtain a discrete state-space model, augmenting it to obtain an augmented discrete state-space model, and calculating state variable predictions; constructing a system prediction model using the state variable predictions, and establishing a performance index function based on the system prediction model; determining hard constraints on the rudder angle and soft constraints on the heel angle; constructing a quadratic constraint optimization equation under these constraints using the performance index function; solving the quadratic constraint optimization equation to obtain the rudder angle change. This invention enables the ship to navigate stably by utilizing the rudder angle change.

Description

Technical Field

[0001] This invention relates to the field of ship control technology, and in particular to ship control methods, systems, equipment, products and media that take into account roll constraints. Background Technology

[0002] Ship heading control is one of the core functions of an automatic navigation system. Traditional ship heading control methods, such as proportional-integral-derivative control and fuzzy control, mainly focus on the rapid correction of heading deviations, but do not fully consider the impact of ship rolling motion on navigation. Affected by environmental factors such as wind, waves, and currents, ships navigating at sea have a six-degree-of-freedom motion response, including pitch, sway, heave, roll, pitch, and bow. Roll refers to the periodic swaying motion of the ship around its longitudinal axis, and severe roll can lead to a decrease in speed, cargo displacement, equipment damage, hull structural damage, and crew discomfort, and even threaten navigational safety. In existing ship heading control technologies, the heading controller and roll damping devices, such as anti-roll fins, are usually designed independently and use independent control loops, resulting in poor system coordination and high energy consumption. On the other hand, existing ship heading control technologies often use empirical thresholds or simplified linear models to constrain roll motion, without real-time estimation through observers, making it difficult to adapt to dynamically changing sea conditions. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in related technologies. To this end, this invention provides a ship control method, system, device, product, and medium that takes into account roll constraints, thereby suppressing ship roll by controlling the change in rudder angle.

[0004] This invention provides a ship control method that takes into account roll constraints, comprising:

[0005] S1: Establish the ship's motion equations and build a continuous state-space model of the ship based on the ship's motion equations;

[0006] S2: Establish a ship motion observer based on the continuous state space model, and obtain the ship's motion parameters through observation using the ship motion observer;

[0007] S3: Use motion parameters and discretize the continuous state space model to obtain the discrete state space model of the ship. Augment the discrete state space model to obtain the augmented discrete state space model. Calculate the state variable predictions through the augmented discrete state space model.

[0008] S4: Construct a system prediction model using the state variable predictors, and establish a performance index function through the system prediction model;

[0009] S5: Determine the hard constraint conditions for the rudder angle and the soft constraint conditions for the heel angle. Under the constraints of the hard and soft rudder angle conditions, construct a quadratic constraint optimization equation through the performance index function. Solve the quadratic constraint optimization equation to obtain the rudder angle change, and control the ship's navigation through the rudder angle change.

[0010] According to the ship control method considering roll constraints provided by the present invention, step S1 further includes:

[0011] S11: Obtain ship navigation parameters, calculate hydrodynamic coefficients using the ship navigation parameters, and establish the ship motion equations based on the hydrodynamic coefficients and the ship navigation parameters;

[0012] S12: Combine the ship's motion equations and add terms representing the derivatives of the heel and heading angles to obtain the ship's continuous state-space model.

[0013] According to the ship control method considering roll constraints provided by the present invention, in step S2, an initial ship motion observer is constructed through the continuous state space model, the initial ship motion observer is deformed, and the observer stability condition of the ship motion observer is determined. The ship motion observer is then established through the deformed initial ship motion observer and the observer stability condition.

[0014] According to the ship control method considering roll constraints provided by the present invention, step S3 further includes:

[0015] S31: Determine the sampling time, and discretize the continuous state space model according to the sampling time and the motion parameters to obtain the discrete state space model of the ship;

[0016] S32: Augment the discrete state space model to obtain the augmented discrete state space model, extract the state matrix, input matrix and state variables from the augmented discrete state space model, and calculate the predicted value of the state variables using the state matrix, input matrix and state variables.

[0017] According to the ship control method considering roll constraints provided by the present invention, step S4 further includes:

[0018] S41: Determine the prediction time domain and the control time domain, and construct the system prediction model using the predicted state variables, the prediction time domain, and the control time domain;

[0019] S42: Determine the state error weight matrix and the input weight matrix, and establish the performance index function using the system prediction model, the state error weight matrix, and the input weight matrix.

[0020] According to the ship control method considering roll constraints provided by the present invention, step S5 further includes:

[0021] S51: Determine the hard constraint conditions of the rudder angle, including the rudder amplitude constraint and the rudder speed constraint, construct non-negative relaxation variables, constrain the ship's heel angle according to the non-negative relaxation variables, thereby determining the soft constraint conditions of the rudder angle, and construct the quadratic constraint optimization equation under the constraints of the hard constraint conditions and the soft constraint conditions of the rudder angle through the performance index function and the non-negative relaxation variables.

[0022] S52: Solve the quadratic constrained optimization equation using a quadratic programming algorithm to obtain the rudder angle change, and control the ship's navigation by controlling the rudder angle change.

[0023] The present invention also provides a ship control system that takes into account roll constraints, comprising:

[0024] Continuous State Space Model Module: Used to establish the ship's motion equations and build a continuous state space model of the ship based on the ship's motion equations;

[0025] Ship motion observer module: used to establish a ship motion observer based on a continuous state space model, and to obtain the ship's motion parameters through observation by the ship motion observer;

[0026] State variable prediction module: used to use motion parameters and discretize the continuous state space model to obtain the discrete state space model of the ship, augment the discrete state space model to obtain the augmented discrete state space model, and calculate the state variable prediction through the augmented discrete state space model.

[0027] Performance index function module: used to build a system prediction model using the predicted quantities of state variables, and to establish a performance index function through the system prediction model;

[0028] The rudder angle change module is used to determine the hard constraints on the rudder angle and the soft constraints on the heel angle. Under the constraints of the hard and soft constraints, a quadratic constraint optimization equation is constructed through a performance index function. The quadratic constraint optimization equation is solved to obtain the rudder angle change, and the ship's navigation is controlled by the rudder angle change.

[0029] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the ship control method considering roll constraints as described above.

[0030] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the ship control method considering roll constraints as described above.

[0031] The present invention also provides a computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by a computer, enable the computer to perform the steps of any of the above-described ship control methods taking into account roll constraints.

[0032] The above-described one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0033] The present invention provides a ship control method, system, equipment, product, and medium that considers roll constraints. By observing the ship's motion parameters in real time through an observer, the predicted quantities of state variables are calculated and a performance index function is established. Subsequently, not only are hard constraints on the rudder angle determined based on the maximum deflection angle of the rudder angle, but the influence of roll is also taken into account through soft constraints on the rudder angle. This avoids excessive roll angles during ship turning, improves the ship's maneuverability and safety performance, and ensures the stability of the ship during turning.

[0034] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0036] Figure 1 This is a schematic flowchart of the ship control method considering roll constraints provided by the present invention.

[0037] Figure 2 This is a schematic diagram of the structure of the ship control device considering roll constraints provided by the present invention.

[0038] Figure 3 This is a schematic diagram of the structure of a ship control device that takes into account roll constraints, provided by the present invention.

[0039] Figure label:

[0040] 100. Continuous State Space Model Module; 200. Ship Motion Observer Module; 300. State Variable Prediction Module; 400. Performance Index Function Module; 500. Rudder Angle Change Module; 810. Processor; 820. Communication Interface; 830. Memory; 840. Communication Bus. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention. The following embodiments are used to illustrate this invention but cannot be used to limit the scope of this invention.

[0042] In the description of the embodiments of the present invention, it should be noted that the terms "first", "second" and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0043] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0044] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0045] The following is combined Figures 1 to 3 The specific embodiments of the present invention are described below. Figure 1 This is a flowchart illustrating a ship control method that considers roll constraints. The present invention provides a ship control method that considers roll constraints, comprising:

[0046] S1: Establish the ship's motion equations and build a continuous state-space model of the ship based on the ship's motion equations;

[0047] Furthermore, the objective of this stage is to establish the ship's motion equations, thereby creating a continuous state-space model of the ship. Specifically, step S1 further includes:

[0048] S11: Obtain ship navigation parameters, calculate hydrodynamic coefficients using the ship navigation parameters, and establish the ship motion equations based on the hydrodynamic coefficients and the ship navigation parameters;

[0049] S12: Combine the ship's motion equations and add terms representing the derivatives of the heel and heading angles to obtain the ship's continuous state-space model.

[0050] The specific implementation method for the above steps in this embodiment is as follows:

[0051] First, it is necessary to obtain the ship's mass m, lateral velocity v, longitudinal velocity u, heel rate p, heading rate r, and moment of inertia about the x-axis. and the moment of inertia about the z-axis The ship's navigation parameters are obtained, and then the hydrodynamic coefficients can be calculated from these parameters. These hydrodynamic coefficients include longitudinal moment hydrodynamic coefficients, lateral moment hydrodynamic coefficients, and vertical moment hydrodynamic coefficients. This allows the establishment of the ship's motion equations, where the lateral motion equation is:

[0052]

[0053] in, The first lateral force hydrodynamic coefficient, Let v be the derivative of the travel time, and Y represents the estimated lateral force acting on the ship. This is the second lateral force hydrodynamic coefficient. Let r be the derivative of the travel time, and , The third lateral force hydrodynamic coefficient, Let p be the derivative of the travel time, and , It is the fourth lateral force hydrodynamic coefficient, and , The fifth lateral force hydrodynamic coefficient, and , It is the sixth lateral force hydrodynamic coefficient, and , This is the seventh lateral force hydrodynamic coefficient. For the rudder angle of the ship, and The equation for roll motion is:

[0054]

[0055] in, The first longitudinal moment hydrodynamic coefficient, and K is the estimated longitudinal moment acting on the ship. The second longitudinal moment hydrodynamic coefficient, and , The third longitudinal moment hydrodynamic coefficient, and , It is the hydrodynamic coefficient of the fourth longitudinal moment, and , The fifth longitudinal moment hydrodynamic coefficient, and , It is the sixth longitudinal moment hydrodynamic coefficient, and , It is the hydrodynamic coefficient of the seventh longitudinal moment, and The equation of motion for the head rotation is:

[0056]

[0057] in, Let be the first vertical moment hydrodynamic coefficient, and N is the estimated vertical moment acting on the ship. The second vertical moment hydrodynamic coefficient, and , The third vertical moment hydrodynamic coefficient, and , The fourth vertical moment hydrodynamic coefficient, and , The fifth vertical moment hydrodynamic coefficient, and , It is the sixth vertical moment hydrodynamic coefficient, and , It is the hydrodynamic coefficient of the seventh vertical moment, and .

[0058] After establishing the ship's equations of motion, we can solve them simultaneously to obtain:

[0059]

[0060] Further solving yields:

[0061]

[0062] Then, the relevant yaw angle was added to the above equation. derivative and heading angle derivative The continuous state-space model can be obtained by considering the terms:

[0063]

[0064] in, The parameters of the first coefficient matrix are... For the parameters of the second coefficient matrix, The parameters of the third coefficient matrix are... The parameters of the fourth coefficient matrix are... The parameters of the fifth coefficient matrix are... The parameters of the sixth coefficient matrix, The parameters of the seventh coefficient matrix, The parameters of the eighth coefficient matrix, The parameters of the ninth coefficient matrix, The parameters of the first input matrix are... For the second input matrix parameters, The parameters are the third input matrix. The coefficient matrix C and the input matrix D are respectively:

[0065]

[0066] And among them:

[0067] .

[0068] S2: Establish a ship motion observer based on the continuous state space model, and obtain the ship's motion parameters through observation using the ship motion observer;

[0069] Furthermore, the objective of this stage is to establish a ship motion observer to observe the ship's motion attitude and obtain motion parameters. Specifically, in step S2, an initial ship motion observer is constructed using the continuous state-space model, the initial ship motion observer is deformed, and the observer stability conditions of the ship motion observer are determined. The ship motion observer is then established using the deformed initial ship motion observer and the observer stability conditions.

[0070] The specific implementation method for the above steps in this embodiment is as follows:

[0071] The role of a ship motion observer is to accurately observe various motion parameters during a ship's navigation process based on known quantities. During navigation, direct observations of these motion parameters by sensors may contain errors and noise. Therefore, it is necessary to calculate the derivatives of each motion parameter using a ship motion observer to obtain their changing trends, thus leading to more accurate motion parameters. The initial ship motion observer is first constructed using a continuous state-space model.

[0072]

[0073] in, The observed value is the lateral velocity. The observed value is the yaw rate. The observed value of the heading angular velocity. The observed values ​​for the tilt angle are... The observed value is the heading angle, which is the value measured by sensors, etc. for The derivative of for The derivative of for The derivative of for The derivative of for The derivative of The coefficients of the first observer are... For the second observer coefficients, For the third observer coefficients, For the fourth observer coefficients, For the fifth observer coefficient.

[0074] Next, by modifying the ship motion observer, we can obtain:

[0075]

[0076] For the deformed ship motion observer, it is necessary to make the matrix The eigenvalues ​​are located in the left half of the complex plane, which is the observer stability condition of the ship motion observer. After the matrix satisfies the observer stability condition, the deformed initial ship motion observer can be used as the ship motion observer. By observing through the ship motion observer, the derivatives of each observation value can be obtained, thereby obtaining more accurate motion parameters.

[0077] S3: Use motion parameters and discretize the continuous state space model to obtain the discrete state space model of the ship. Augment the discrete state space model to obtain the augmented discrete state space model. Calculate the state variable predictions through the augmented discrete state space model.

[0078] Furthermore, the objective of this stage is to obtain and augment the discrete state-space model of the ship, thereby calculating the predicted state variables through the augmented discrete state-space model. Specifically, step S3 further includes:

[0079] S31: Determine the sampling time, and discretize the continuous state space model according to the sampling time and the motion parameters to obtain the discrete state space model of the ship;

[0080] S32: Augment the discrete state space model to obtain the augmented discrete state space model, extract the state matrix, input matrix and state variables from the augmented discrete state space model, and calculate the predicted value of the state variables using the state matrix, input matrix and state variables.

[0081] The specific implementation method for the above steps in this embodiment is as follows:

[0082] First, the sampling time h needs to be determined, which is the interval between two discretized data points. This allows the state-space model to be discretized based on the sampling time and motion parameters, resulting in the ship's discrete state-space model.

[0083]

[0084] Based on this, we can further deduce:

[0085]

[0086] Among the motion parameters, the rudder angle at time k can be obtained. lateral velocity at time k The yaw rate at time k Angular velocity of heading at time k The tilt angle at time k and the heading angle at time k This allows us to calculate the lateral velocity at time k+1. yaw rate at time k+1 Angular velocity of heading at time k+1 The tilt angle at time k+1 and the heading angle at time k+1 .

[0087] Next, the discrete state-space model is augmented, and the input is changed from measured values ​​to incremental values, thus obtaining the augmented discrete state-space model:

[0088]

[0089] This includes the rudder angle increment at time k. The lateral velocity increment at time k The increment of the yaw rate at time k The increment of the heading angular velocity at time k The increment of the tilt angle at time k and the heading angle increment at time k This allows us to calculate the lateral velocity increment at time k+1. The increment of the yaw rate at time k+1 The increase in heading angular velocity at time k+1 The increment of the tilt angle at time k+1 and the heading angle increment at time k+1 The increment here is the increase of each value at this moment relative to the previous moment.

[0090] Next, the state matrix A, the input matrix B, and the state variables at time k are extracted from the augmented discrete state-space model. :

[0091]

[0092]

[0093] In this way, the predicted state variable, i.e., the state variable at time k+1, can be calculated using the state matrix, the input matrix, and the state variable. :

[0094] .

[0095] S4: Construct a system prediction model using the state variable predictors, and establish a performance index function through the system prediction model;

[0096] Furthermore, the objective of this stage is to construct a system prediction model, thereby establishing a performance index function. Specifically, step S4 further includes:

[0097] S41: Determine the prediction time domain and the control time domain, and construct the system prediction model using the predicted state variables, the prediction time domain, and the control time domain;

[0098] S42: Determine the state error weight matrix and the input weight matrix, and establish the performance index function using the system prediction model, the state error weight matrix, and the input weight matrix.

[0099] The specific implementation method for the above steps in this embodiment is as follows:

[0100] First, the prediction time domain needs to be determined based on experience. and control time domain Here, both the control time domain and the prediction time domain refer to time length. This allows us to construct a system prediction model using the predicted state variables, the prediction time domain, and the control time domain.

[0101]

[0102]

[0103]

[0104] in, The prediction matrix includes the predictions of the state variables. This means using the data from time k as a basis to predict the state variables at time k+1. This indicates that based on the data at time k, the data at time t is used to calculate the next data point. Predicting the state variables at each time step. This indicates that based on the data at time k, the data at time t is used to calculate the next data point. Predicting the state variables at each time step. This indicates that based on the data at time k, the data at time t is used to calculate the next data point. The state variables at time step k are used for prediction. Here, "based on the k-th time step" means that after obtaining the state variables at the k-th time step, the predicted state variables at the (k+1)-th time step can be obtained. The predicted state variables are then used as the state variables for the next time step for prediction, and so on. To predict the state matrix, This is the rudder angle parameter matrix. This represents the rudder angle increment at time k+1. Indicates the first The rudder angle increment at any given moment The state input set matrix.

[0105] When performing calculations here, the state variables need to be treated as a whole. What you get is one Similarly, for a 3D matrix, What you get is also Two matrices, each containing a 7×1 matrix at each value, and the sum of the two matrices also containing... A 7×1 dimensional matrix, which is the prediction matrix.

[0106] Subsequently, the state error weight matrix Q and the input weight matrix R are determined based on experience. The state error weight matrix is ​​a single... A diagonal matrix of dimension 1, with the input weight matrix being a single dimensional matrix. A diagonal matrix of dimension 1. By taking values ​​from the system prediction model, a performance index function can be established with the objective of optimizing the rudder angle increment. :

[0107]

[0108] in, This indicates that the j-th value in the state error weight matrix is ​​used to calculate the square of the modulus of the content within the parentheses. This indicates that the (m+1)th value in the input weight matrix is ​​used to calculate the square of the modulus of the content within the parentheses. This represents the preset navigation parameters of the ship at time j, presented as a diagonal matrix. Each value in the matrix includes the ship's preset lateral velocity, angular velocity, and heading angle at that time. This represents a matrix composed of the first to the (m+1)th terms taken from the rudder angle parameter matrix. This indicates that based on the data at time k, the data at time t is used to calculate the next data point. Predict the state variables at each time step.

[0109] S5: Determine the hard constraint conditions for the rudder angle and the soft constraint conditions for the heel angle. Under the constraints of the hard and soft rudder angle conditions, construct a quadratic constraint optimization equation through the performance index function. Solve the quadratic constraint optimization equation to obtain the rudder angle change, and control the ship's navigation through the rudder angle change.

[0110] Furthermore, the objective of this stage is to solve the quadratic constrained optimization equation under both hard and soft constraints on the rudder angle, thereby obtaining the change in rudder angle. Specifically, step S5 further includes:

[0111] S51: Determine the hard constraint conditions of the rudder angle, including the rudder amplitude constraint and the rudder speed constraint, construct non-negative relaxation variables, constrain the ship's heel angle according to the non-negative relaxation variables, thereby determining the soft constraint conditions of the rudder angle, and construct the quadratic constraint optimization equation under the constraints of the hard constraint conditions and the soft constraint conditions of the rudder angle through the performance index function and the non-negative relaxation variables.

[0112] S52: Solve the quadratic constrained optimization equation using a quadratic programming algorithm to obtain the rudder angle change, and control the ship's navigation by controlling the rudder angle change.

[0113] The specific implementation method for the above steps in this embodiment is as follows:

[0114] First, it is necessary to determine the control angle constraint, which means that the control angle cannot exceed the maximum control angle of the servo motor. It must not be lower than the minimum rudder angle. Furthermore, it is necessary to determine the rudder speed constraint, meaning that the rudder angle increment cannot exceed the maximum rudder angle increment value of the servo motor. It must not be lower than the minimum rudder angle increment. This yields the hard constraint condition for the rudder angle. Next, nonnegative slack variables are constructed. Determine the minimum heel angle. and maximum tilt angle This allows us to determine the soft constraint conditions for the rudder angle. The weighting coefficients of the relaxation variable terms are then determined empirically. This allows us to construct a quadratic constrained optimization equation:

[0115]

[0116] in, This indicates that the performance index function is minimized, and st represents the constraint condition. Let represent the non-negative slack variable at time k+j. This represents the rudder angle at time k+m. This represents the rudder angle increment at time k+m. Let represent the heel angle at time k+j. The future rudder angle can be obtained by accumulating the current rudder angle increments. Then, a quadratic programming algorithm is used to solve the quadratic constrained optimization equation. This involves predicting the rudder angle increments and non-negative relaxation variables at each future time using quadratic programming. The predicted rudder angle increments are then substituted into the system prediction model to calculate the value of the prediction matrix, thus allowing the calculation of the performance index function. This process is repeated until the predicted rudder angle increment that achieves the objective of the quadratic constrained optimization equation is found, resulting in the rudder angle change. The ship's navigation is then controlled by the rudder angle change.

[0117] It is also necessary to predict the non-negative relaxation variables because if the value of the non-negative relaxation variables is too large, the allowable heel angle will be too large, which will endanger the navigation safety of the ship; if it is too small, it may lead to the rudder angle increment being too small, which is difficult to meet the needs of adjusting the course, resulting in the deviation of the course angle from the preset navigation parameters being too large, thus failing to make the performance index function reach its minimum value. Therefore, it is necessary to predict the non-negative relaxation variables at each time point, so as to achieve a balance between the heel angle and the rudder angle increment and obtain a more appropriate predicted value of the rudder angle increment.

[0118] This invention can predict the change in rudder angle of a ship, so that the obtained change in rudder angle can ensure that the ship sails along the predetermined route while maximizing the stability of the ship's navigation.

[0119] The ship control device considering roll constraints provided by the present invention will be described below. The ship control device considering roll constraints described below can be referred to in correspondence with the ship control method considering roll constraints described above.

[0120] Figure 2 Example: A schematic diagram of a ship control system considering roll constraints, such as... Figure 2 As shown, a ship control method considering roll constraints as described above includes:

[0121] Continuous State Space Model Module 100: Used to establish the ship's motion equations and to establish a continuous state space model of the ship based on the ship's motion equations;

[0122] Ship motion observer module 200: used to establish a ship motion observer based on a continuous state space model, and to obtain the ship's motion parameters through observation by the ship motion observer;

[0123] State variable prediction module 300: Used to discretize the continuous state space model using motion parameters to obtain the discrete state space model of the ship, augment the discrete state space model to obtain the augmented discrete state space model, and calculate the state variable prediction through the augmented discrete state space model.

[0124] Performance index function module 400: used to build a system prediction model using state variable predictions, and to establish a performance index function through the system prediction model;

[0125] Rudder Angle Change Module 500: This module is used to determine the hard and soft constraints on the rudder angle and the roll angle. Under these constraints, a quadratic constraint optimization equation is constructed using a performance index function. The quadratic constraint optimization equation is then solved to obtain the rudder angle change, which is used to control the ship's navigation.

[0126] Figure 3 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 3 As shown, the electronic device may include: a processor 810, a communications interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communications interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 can call a computer program in the memory 830 to execute a ship control method considering roll constraints, the method including:

[0127] S1: Establish the ship's motion equations and build a continuous state-space model of the ship based on the ship's motion equations;

[0128] S2: Establish a ship motion observer based on the continuous state space model, and obtain the ship's motion parameters through observation using the ship motion observer;

[0129] S3: Use motion parameters and discretize the continuous state space model to obtain the discrete state space model of the ship. Augment the discrete state space model to obtain the augmented discrete state space model. Calculate the state variable predictions through the augmented discrete state space model.

[0130] S4: Construct a system prediction model using the state variable predictors, and establish a performance index function through the system prediction model;

[0131] S5: Determine the hard constraint conditions for the rudder angle and the soft constraint conditions for the heel angle. Under the constraints of the hard and soft rudder angle conditions, construct a quadratic constraint optimization equation through the performance index function. Solve the quadratic constraint optimization equation to obtain the rudder angle change, and control the ship's navigation through the rudder angle change.

[0132] Furthermore, when the computer program in the aforementioned memory 830 can be implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0133] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, wherein when the program instructions are executed by a computer, the computer is able to execute the ship control method considering roll constraints provided by the above methods, the method comprising:

[0134] S1: Establish the ship's motion equations and build a continuous state-space model of the ship based on the ship's motion equations;

[0135] S2: Establish a ship motion observer based on the continuous state space model, and obtain the ship's motion parameters through observation using the ship motion observer;

[0136] S3: Use motion parameters and discretize the continuous state space model to obtain the discrete state space model of the ship. Augment the discrete state space model to obtain the augmented discrete state space model. Calculate the state variable predictions through the augmented discrete state space model.

[0137] S4: Construct a system prediction model using the state variable predictors, and establish a performance index function through the system prediction model;

[0138] S5: Determine the hard constraint conditions for the rudder angle and the soft constraint conditions for the heel angle. Under the constraints of the hard and soft rudder angle conditions, construct a quadratic constraint optimization equation through the performance index function. Solve the quadratic constraint optimization equation to obtain the rudder angle change, and control the ship's navigation through the rudder angle change.

[0139] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the aforementioned ship control methods considering roll constraints, the method comprising:

[0140] S1: Establish the ship's motion equations and build a continuous state-space model of the ship based on the ship's motion equations;

[0141] S2: Establish a ship motion observer based on the continuous state space model, and obtain the ship's motion parameters through observation using the ship motion observer;

[0142] S3: Use motion parameters and discretize the continuous state space model to obtain the discrete state space model of the ship. Augment the discrete state space model to obtain the augmented discrete state space model. Calculate the state variable predictions through the augmented discrete state space model.

[0143] S4: Construct a system prediction model using the state variable predictors, and establish a performance index function through the system prediction model;

[0144] S5: Determine the hard constraint conditions for the rudder angle and the soft constraint conditions for the heel angle. Under the constraints of the hard and soft rudder angle conditions, construct a quadratic constraint optimization equation through the performance index function. Solve the quadratic constraint optimization equation to obtain the rudder angle change, and control the ship's navigation through the rudder angle change.

[0145] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0146] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0147] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A ship control method considering roll constraints, characterized in that, include: S1: Establish the ship's motion equations and build a continuous state-space model of the ship based on the ship's motion equations; S2: Establish a ship motion observer based on the continuous state space model, and obtain the ship's motion parameters through observation using the ship motion observer; S3: Use motion parameters and discretize the continuous state space model to obtain the discrete state space model of the ship. Augment the discrete state space model to obtain the augmented discrete state space model. Calculate the state variable predictions through the augmented discrete state space model. S4: Construct a system prediction model using the state variable predictors, and establish a performance index function through the system prediction model; S5: Determine the hard constraint conditions for the rudder angle and the soft constraint conditions for the heel angle. Under the constraints of the hard and soft rudder angle conditions, construct a quadratic constraint optimization equation through the performance index function. Solve the quadratic constraint optimization equation to obtain the rudder angle change. Control the ship's navigation through the rudder angle change. The quadratic constrained optimization equation is: in, This means that the performance index function is minimized. The function represents the performance index, and st represents the constraint condition. Let represent the non-negative slack variable at time k+j. This represents the rudder angle at time k+m. This represents the rudder angle increment at time k+m. This represents the tilt angle at time k+j. Maximum rudder angle, Minimum rudder angle, This represents the minimum increment of the rudder angle. Maximum rudder angle increment This is the minimum tilt angle. This represents the maximum tilt angle. Let Q be the non-negative slack variable, Q be the error weight matrix, and R be the input weight matrix. This indicates that the j-th value in the state error weight matrix is ​​used to calculate the square of the modulus of the content within the parentheses. This indicates that the (m+1)th value in the input weight matrix is ​​used to calculate the square of the modulus of the content within the parentheses. This represents the preset navigation parameters of the ship at time j. This represents a matrix composed of the first to the (m+1)th terms taken from the rudder angle parameter matrix. This indicates that based on the data at time k, the data at time t is used to calculate the next data point. Predicting the state variables at each time step. These are the weighting coefficients. To predict the time domain, To control the time domain.

2. The ship control method considering roll constraints according to claim 1, characterized in that, Step S1 further includes: S11: Obtain ship navigation parameters, calculate hydrodynamic coefficients using the ship navigation parameters, and establish the ship motion equations based on the hydrodynamic coefficients and the ship navigation parameters; S12: Combine the ship's motion equations and add terms representing the derivatives of the heel and heading angles to obtain the ship's continuous state-space model.

3. The ship control method considering roll constraints according to claim 1, characterized in that, In step S2, an initial ship motion observer is constructed using the continuous state space model. The initial ship motion observer is then deformed, and the observer stability condition of the ship motion observer is determined. The ship motion observer is then established using the deformed initial ship motion observer and the observer stability condition.

4. The ship control method considering roll constraints according to claim 1, characterized in that, Step S3 further includes: S31: Determine the sampling time, and discretize the continuous state space model according to the sampling time and the motion parameters to obtain the discrete state space model of the ship; S32: Augment the discrete state space model to obtain the augmented discrete state space model, extract the state matrix, input matrix and state variables from the augmented discrete state space model, and calculate the predicted value of the state variables using the state matrix, input matrix and state variables.

5. The ship control method considering roll constraints according to claim 1, characterized in that, Step S4 further includes: S41: Determine the prediction time domain and the control time domain, and construct the system prediction model using the predicted state variables, the prediction time domain, and the control time domain; S42: Determine the state error weight matrix and the input weight matrix, and establish the performance index function using the system prediction model, the state error weight matrix, and the input weight matrix.

6. The ship control method considering roll constraints according to claim 1, characterized in that, Step S5 further includes: S51: Determine the hard constraint conditions of the rudder angle, including the rudder amplitude constraint and the rudder speed constraint, construct non-negative relaxation variables, constrain the ship's heel angle according to the non-negative relaxation variables, thereby determining the soft constraint conditions of the rudder angle, and construct the quadratic constraint optimization equation under the constraints of the hard constraint conditions and the soft constraint conditions of the rudder angle through the performance index function and the non-negative relaxation variables. S52: Solve the quadratic constrained optimization equation using a quadratic programming algorithm to obtain the rudder angle change, and control the ship's navigation by controlling the rudder angle change.

7. A ship control system considering roll constraints, for executing the ship control method considering roll constraints as described in any one of claims 1 to 6, characterized in that, include: Continuous State Space Model Module: Used to establish the ship's motion equations and build a continuous state space model of the ship based on the ship's motion equations; Ship motion observer module: used to establish a ship motion observer based on a continuous state space model, and to obtain the ship's motion parameters through observation by the ship motion observer; State variable prediction module: used to use motion parameters and discretize the continuous state space model to obtain the discrete state space model of the ship, augment the discrete state space model to obtain the augmented discrete state space model, and calculate the state variable prediction through the augmented discrete state space model. Performance index function module: used to build a system prediction model using the predicted quantities of state variables, and to establish a performance index function through the system prediction model; The rudder angle change module is used to determine the hard constraints on the rudder angle and the soft constraints on the heel angle. Under the constraints of the hard and soft constraints, a quadratic constraint optimization equation is constructed through a performance index function. The quadratic constraint optimization equation is solved to obtain the rudder angle change, and the ship's navigation is controlled by the rudder angle change.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the ship control method considering roll constraints as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the ship control method considering roll constraints as described in any one of claims 1 to 6.

10. A computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, characterized in that, When the program instructions are executed by the computer, the computer is able to perform the steps of the ship control method taking into account roll constraints as described in any one of claims 1 to 6.

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