Ship berthing hierarchical and cascaded double closed-loop control method and system based on tugboat cooperation

Abstract

The application discloses a ship berthing hierarchical and cascaded double closed-loop control method and system based on tugboat cooperation, and relates to the technical field of ship motion control and multi-agent cooperation. The method comprises the following steps: constructing a hierarchical and cascaded control framework based on the kinematics and dynamics models of a large ship and a tugboat system, wherein a general control layer is used for general berthing position control, and a distributed control layer is used for distributed thrust control; and using a double closed-loop control strategy to cooperatively control the tugboat system according to the hierarchical and cascaded control framework, wherein an outer ring performs task decision and cooperative planning control by comprehensively considering a berthing task sheet, port regulations, an environmental state and a ship condition, and an inner ring accepts the task decision and performs distributed cooperative control and localized execution. The application can decompose a complex berthing cooperative task into multiple levels, the different levels have clear division of labor, and the levels cooperatively work together, thereby improving the safety, smoothness and efficiency of the multi-tugboat cooperative berthing process.

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