Multi-Tugboat Berthing Control With MPC for Variable Ship Types
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Solution Overview
Problem
Existing intelligent collaboration methods for port operations lack robustness, safety, and comprehensive coverage, particularly in handling diverse ship types and frequent entry/exit scenarios, where a single fixed tugboat cooperation method is insufficient.
Innovation Solution
An intelligent assistance system and method for berthing and unberthing based on multi-tugboat collaboration, comprising an upper-level controller for processing ship data using MPC algorithms to determine expected trajectories and tugboat power, and a lower-level controller for executing these instructions, along with a physical layer hardware module for performing collaborative operations, utilizing adaptive weights to ensure stable operation under environmental interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single fixed tugboat cooperation method is used, then the system is simple to operate, but it cannot meet the production and operation needs of ports with diverse ship types and frequent entry/exit
Solution Approach 1:
The patent implements dynamic adaptation by enabling the tugboat collaboration system to automatically adjust its configuration based on real-time ship characteristics. The system dynamically selects tugboat types, quantities, and service combination methods according to different ship types and operational scenarios, transforming a static fixed method into a dynamic adaptive system that can handle diverse ship types and frequent entry/exit operations
Solution Approach 2:
The system changes operational parameters such as tugboat power allocation, positioning coordinates, and control instructions based on different ship types and environmental conditions. By adjusting these parameters dynamically, the system achieves adaptability to various ship types while maintaining manageable complexity through parameterized control
2Reliability
If existing intelligent collaboration methods are used, then automation is achieved, but robustness and safety are insufficient under environmental interference
Solution Approach 1:
The patent implements feedback mechanisms where the upper-level controller continuously monitors tugboat operational status and environmental conditions, then adjusts control instructions accordingly. This closed-loop feedback system enhances robustness by automatically compensating for environmental interference while maintaining high automation, as the system self-corrects based on real-time feedback without human intervention
Solution Approach 2:
The system prepares contingency plans and pre-calculates alternative tugboat configurations before environmental interference occurs. By anticipating potential disturbances and pre-configuring backup solutions, the system maintains robustness and safety under environmental interference while operating autonomously
Data Source
AI summary
An intelligent assistance system and a method for berthing and unberthing based on multi-tugboat collaboration are provided. The system includes an upper-level controller, a lower-level controller and a physical layer hardware module, the upper-level controller is used to process obtained ship data based on MPC algorithm, to obtain expected ship position, expected ship velocity, and environmental resistance information, and to process them based on the cost function to obtain expected trajectory and power of the tugboat; the lower-level controller communicates and connects with the upper-level controller to receive the upper-level controller, processes the expected trajectory, power, and environmental resistance information of the sent tugboat based on MPC algorithm to obtain working mode selection information, and receives control instructions sent by the upper-level controller and obtains propeller data information; the physical layer hardware module communicates with the lower-level controller to receive propeller data information and perform berthing and unberthing operations.