【作者】 张毅；

【导师】 王红波；

【作者基本信息】 吉林大学 ， 控制系统与仿真， 2024， 硕士

【摘要】 船舶靠泊技术是海洋运输领域的关键技术之一,在现代航运业的发展中扮演着重要角色。随着全球对碳排放和环境保护的关注日益增强,船舶靠泊技术作为减少碳排放和环境保护的重要措施备受关注。通过优化靠泊过程,不仅可以提高港口作业效率,还可以减少燃料消耗和污染排放。进一步推动船舶靠泊技术的创新和应用,对于实现海洋运输业的绿色可持续发展目标至关重要。目前,船舶靠泊领域的主要挑战之一是复杂的港口环境,其中包括港口内多变的障碍物和风浪等因素对船舶靠泊过程的影响。这些外部因素常常会干扰船舶的靠泊操作,并可能导致靠泊事故的发生。因此,研究适用于复杂港口环境的自动靠泊算法成为提高船舶靠泊安全性和操作效率的重要途径。(一)本文从靠泊轨迹优化和船舶受到的约束两方面入手,提出了一种多任务最优控制靠泊方案。通过对无人船的靠泊过程进行分析,针对靠泊过程中遇到的不同的挑战和需要实现的目标,将无人船的靠泊过程划分为港内阶段和靠泊阶段。港内阶段的任务主要是将无人船导引至泊位附近并对港内复杂的障碍物进行避碰,靠泊阶段任务主要是对船舶的姿态和航速进行调整,以满足靠泊终止条件。最后,根据不同阶段的不同任务建立最优控制方案中的路径约束和优化目标对靠泊路径进行优化。(二)本文为准确描述无人船与环境之间的空间关系,提出了一种抽稀三角剖分地图切割法。通过对矢量地图进行三角剖分,将港口中不可航行的陆地区域分割成多个三角形区域。通过判断无人船与三角形区域之间的几何关系获取无人船的空间信息。同时,对矢量地图的边缘点进行抽稀,有效降低了地图复杂度,避免了最优控制方案中可能出现的维度爆炸问题,有效加快了最优控制靠泊方案的求解速度。(三)本文对求解最优控制问题的hp自适应Radau伪谱法做出了改进,通过对最优控制问题的路径约束进行归一化,有效解决了大尺度地图下路径约束量级差异过大和最优控制靠泊方案难以收敛的问题。(四)本文在仿真验证阶段基于缩尺比为1:31.599的KCS船模建立MMG船舶运动模型,并考虑港口内环境干扰,搭建基于NORSOK功率谱的慢时变风场模型。最后基于MATLAB编程环境,以真实港口青岛港为仿真环境,进行了多组不同环境干扰下的仿真实验,验证了提出的多任务最优控制方案在面对风扰和各种障碍物的影响时,能够保持其鲁棒性和有效性。更多还原

【Abstract】 Ship berthing technology is one of the key technologies in the field of maritime transportation,playing a crucial role in the modern shipping industry.With increasing global attention on carbon emissions and environmental protection,ship berthing technology is receiving significant focus as an important measure to reduce carbon emissions and protect the environment.By optimizing the berthing process,not only can port operation efficiency be improved,but fuel consumption and pollution emissions can also be reduced.Further advancement and application of ship berthing technology are crucial for achieving the green and sustainable development goals of the maritime transportation industry.Currently,one of the main challenges in the field of ship berthing is the complex port environment,which includes factors such as variable obstacles and wind and waves that affect the berthing process.These external factors often interfere with ship berthing operations and may lead to berthing accidents.Therefore,developing automatic berthing algorithms suitable for complex port environments has become an important approach to improving the safety and efficiency of ship berthing operations.(1)This paper proposes a multi-task optimal control berthing scheme focusing on berthing trajectory optimization and constraints on the ship.By analyzing the berthing process of unmanned vessels and considering the different challenges encountered and goals to be achieved during berthing,the berthing process is divided into harbor approach and berthing stages.The tasks during the harbor approach stage mainly involve guiding the unmanned vessel to the vicinity of the berth and avoiding complex obstacles within the harbor,while tasks during the berthing stage mainly involve adjusting the vessel’s attitude and speed to meet berthing termination conditions.(2)To accurately describe the spatial relationship between unmanned vessels and the environment,this paper proposes a method for sparse triangulation map segmentation.By triangulating vector maps,non-navigable land areas within the port are segmented into multiple triangular regions.Simultaneously,sparse reduction of edge points in vector maps effectively reduces map complexity,avoiding potential dimension explosion issues in optimal control schemes.(3)This paper improves the hp-adaptive Radau pseudospectral method for solving optimal control problems by normalizing path constraints.This effectively reduces the significant differences in constraint magnitudes under large-scale maps,accelerating the solution speed of optimal control berthing schemes.(4)In the simulation verification stage,a MMG ship motion model based on a1:31.599 scale KCS ship model is established,considering environmental interference within the port and employing a slow time-varying wind field model based on NORSOK power spectra.Finally,using the MATLAB programming language and the actual port map of Qingdao Port as the simulation environment,multiple sets of simulations were conducted to verify that the proposed multi-task optimal control scheme maintains robustness and effectiveness in the face of wind disturbances and various obstacles.更多还原