Volume 39 Issue 1
Feb.  2021
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Article Navigation >  Journal of Transport Information and Safety  > 2021  >  39(1): 52-63
WU Wenxiang, CHU Xiumin, LIU Chenguang, MAO Wengang. A Coordinated Control Method of Longitudinal Ship Speed Based on Model Predictive Control[J]. Journal of Transport Information and Safety, 2021, 39(1): 52-63. doi: 10.3963/j.jssn.1674-4861.2021.01.0007
Citation: WU Wenxiang, CHU Xiumin, LIU Chenguang, MAO Wengang. A Coordinated Control Method of Longitudinal Ship Speed Based on Model Predictive Control[J]. Journal of Transport Information and Safety, 2021, 39(1): 52-63. doi: 10.3963/j.jssn.1674-4861.2021.01.0007
shu

A Coordinated Control Method of Longitudinal Ship Speed Based on Model Predictive Control

doi: 10.3963/j.jssn.1674-4861.2021.01.0007
  • 1.

    National Engineering Research Center for Water Transport Safety, Wuhan University of Technology, Wuhan 430063, China

  • 2.

    Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan 430063, China

  • 3.

    School of Energy and Power Engineering, Wuhan University of Technology, Wuhan 430063, China

  • Received Date: 2020-09-14
  • Publish Date: 2021-02-28
    Abstract
  • Multi-vessel cooperative navigation has significant advantages in maritime search and rescue, resource exploration, and polar shipping. Cooperative control of longitudinal speed is the key to realizing cooperative navigation of ships. A longitudinal dynamics model of the ship considering influences of wind is constructed by analyzing the relationship among ship propeller speed, acceleration, and speed. A ship spacing model based on the variable time-distance strategy is invoked to realize the correlation between the acceleration and following distance of the front and rear ships. After designing the multi-ship speed-control objective function considering multiple constraints such as speed and acceleration, the optimization problem is solved in real-time using the method. Finally, the simulation is verified by Matlab. The results show that the proposed cooperative control method of longitudinal ship speed, based on the model predictive control method, can stably follow the front ship under the working conditions of acceleration, deceleration, and uniform speed. Its distance tracking errors are 0.092 5, 0.192 8, and 0.166 2 m, respectively. Compared with the PID method, the proposed method has better convergence, tracking accuracy, and anti-interference ability.

     

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