Multi-tugboat thrust distribution method and system based on health weighting and flow field coupling

By using a thrust allocation method that combines health-weighted and flow-field coupling, the problems of sub-health status of tugboats and flow-field coupling interference in multi-tugboat collaborative control are solved. This method enables smooth soft unloading of faulty tugboats and avoidance of ineffective thrust sectors, improving the robustness and energy efficiency of the system, and enhancing control accuracy and port operation safety.

CN122172587BActive Publication Date: 2026-07-10SHANDONG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
SHANDONG UNIV
Filing Date
2026-05-11
Publication Date
2026-07-10

AI Technical Summary

Technical Problem

Existing multi-tugboat cooperative control technology suffers from poor adaptability and energy waste when dealing with sub-healthy tugboat conditions and flow field coupling interference, leading to decreased control accuracy and safety hazards.

Method used

A thrust allocation method based on health-weighted and flow field coupling is adopted. By constructing an objective cost function through a health assessment model and flow field coupling constraint mechanism, and solving it using the alternating direction multiplier method, smooth soft unloading of faulty tugboats and automatic avoidance of ineffective thrust sectors are achieved.

Benefits of technology

It improves the robustness, safety, and energy efficiency of the multi-tugboat collaborative control system, reduces the risk of equipment damage, and enhances control precision and port operation efficiency.

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Abstract

The disclosure provides a multi-tug thrust distribution method and system based on health degree weighting and flow field coupling, relating to the technical field of ship intelligent control, comprising: acquiring real-time system state data and tug instruction tracking error historical data; constructing a real-time health degree evaluation model; determining a flow field coupling interference coefficient according to the geometric position relationship of each tug relative to the ship and adjacent tugs, and constructing a geometric constraint model; based on the geometric constraint model and the health degree evaluation model, taking the minimization of system total energy consumption, error minimization and control quantity smoothing as the goal, determining multi-constraint conditions, and constructing a target cost function based on health degree weighting; using an alternating direction multiplier method-based solving algorithm to solve the target cost function under the multi-constraint conditions, mapping the solved torque vector to the optimal thrust instruction and issuing it to each tug actuator for operation. The disclosure improves the utilization rate and turnover rate of the port berth.
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