基于矢量场制导法和模型预测控制的船舶路径跟踪与避碰

doi:10.16183/j.cnki.jsjtu.2023.121

上海交通大学学报 ›› 2024, Vol. 58 ›› Issue (11): 1644-1653.doi: 10.16183/j.cnki.jsjtu.2023.121

基于矢量场制导法和模型预测控制的船舶路径跟踪与避碰

何宇¹, 欧阳子路¹, 邹璐¹^,²(), 陈伟民³, 邹早建¹^,²

1.上海交通大学船舶海洋与建筑工程学院,上海 200240
2.上海交通大学海洋工程国家重点实验室,上海 200240
3.上海船舶运输科学研究所有限公司,上海 200135

收稿日期:2023-04-03 修回日期:2023-05-29 接受日期:2023-07-03 出版日期:2024-11-28 发布日期:2024-12-02
通讯作者: 邹璐,副教授,博士生导师,电话(Tel.):021-34208149;E-mail: luzou@sjtu.edu.cn.
作者简介:何宇(2000—),硕士生,现主要从事船舶运动控制研究.
基金资助:
水动力学国家重点实验室开放基金(6142203210205);中央高校基本科研业务费专项资金(AF0100142/005/002);航运技术与安全国家重点实验室、交通行业重点实验室开放课题基金(W22CG000114)

Ship Path Following and Collision Avoidance Based on Vector Field Guidance Law and Model Predictive Control

HE Yu¹, OUYANG Zilu¹, ZOU Lu¹^,²(), CHEN Weimin³, ZOU Zaojian¹^,²

1. School of Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
2. State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
3. Shanghai Ship and Shipping Research Institute Co., Ltd., Shanghai 200135, China

Received:2023-04-03 Revised:2023-05-29 Accepted:2023-07-03 Online:2024-11-28 Published:2024-12-02

摘要/Abstract

摘要：

为提高船舶路径跟踪和避碰效果,提出了一种基于矢量场制导法的模型预测控制方法.首先,采用矢量场制导算法将船舶的路径跟踪和船舶避碰问题转换为航向控制问题;然后,采用一阶 Nomoto 响应模型作为模型预测控制的动力学模型,考虑船舶的舵角输入受限问题,引入干扰观测器对模型误差项和环境扰动进行补偿,并应用Lyapunov理论证明了所设计的路径跟踪控制系统的稳定性;最后,设计了基于矢量场制导法的避碰策略,使船舶在路径跟踪的过程中同时完成自主避碰.仿真计算结果表明,开发的方法可以使船舶在波浪干扰作用下准确地跟踪目标路径并有效实现避碰.

关键词: 船舶路径跟踪, 避碰, 模型预测控制, 矢量场制导法, 干扰观测器

Abstract:

A model predictive control (MPC) method based on the vector field guidance law is proposed to improve the effectiveness of path following and collision avoidance for ships. First, the path following and collision-avoidance problems are transformed into heading-control problems by the vector field guidance law. Then, the first-order Nomoto response model is adopted as the ship dynamic model for the model predictive control. Considering the input limitation of the rudder angle, the disturbance observer is introduced to compensate the model error and the environmental disturbances. The stability of the designed path following control system is verified by the Lyapunov theory. Finally, a collision avoidance strategy based on the vector field guidance law is designed to enable the ship to avoid collision autonomously in the process of path following. The simulation results indicate that the proposed methods can make the ship track the target path accurately and realize collision avoidance under the impacts of wave disturbances.

Key words: ship path following, collision avoidance, model predictive control (MPC), vector field (VF) guidance law, disturbance observer

中图分类号:

U661.33

何宇, 欧阳子路, 邹璐, 陈伟民, 邹早建. 基于矢量场制导法和模型预测控制的船舶路径跟踪与避碰[J]. 上海交通大学学报, 2024, 58(11): 1644-1653.

HE Yu, OUYANG Zilu, ZOU Lu, CHEN Weimin, ZOU Zaojian. Ship Path Following and Collision Avoidance Based on Vector Field Guidance Law and Model Predictive Control[J]. Journal of Shanghai Jiao Tong University, 2024, 58(11): 1644-1653.

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控制方法	航向角的 RMSE/(°)	航向角稳态误差/(°)
带干扰观测器的MPC	0.61	0
MPC	2.84	3.44
PID	1.28	2.10

基于矢量场制导法和模型预测控制的船舶路径跟踪与避碰

Ship Path Following and Collision Avoidance Based on Vector Field Guidance Law and Model Predictive Control

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