哈尔滨工程大学学报2026，Vol.47Issue(3)：630-642,13.DOI:10.11990/jheu.202412021
考虑航速约束的船舶编队乘潮航行控制
Navigation control for ship formations considering speed constraints during tide riding
摘要
Abstract
In order to study the safe and efficient navigation of ship formations during tide-assisted navigation,a distrib-uted formation control method with speed constraints is proposed.A leader-follower structure is adopted to design a dis-tributed model predictive control-based controller,with speed constraints,formation keeping,and safe inter-ship dis-tance maintenance as control objectives.The maximum speed constraint considering ship squat and the minimum tide-assisted speed constraint considering tidal duration requirements are incorporated into the controller.A longitudinal safety distance model is used to calculate the desired positions of formation members,and a position error model is ap-plied to maintain formation geometry and safe spacing.Simulations in the north channel of the Yangtze River estuary un-der normal navigation and deceleration-for-yielding scenarios show that the controller can effectively track the desired tra-jectory with or without speed constraints.In the deceleration-for-yielding scenario with speed constraints,the maximum ratios of actual draft to maximum safe draft are 99.1%,97.5%,and 85.1%,compared with 101.4%,100%,and 85%without speed constraints.The proposed method dynamically adjusts ship speed according to water depth variations while satisfying safety distance requirements.关键词
编队控制/轨迹跟踪/乘潮航行/模型预测控制/分布式控制器/航速约束/安全间距/领导-跟随Key words
formation control/trajectory tracking/tidal navigation/model predictive control/distributed control-ler/speed constraints/safety distance/leader-follower分类
交通工程引用本文复制引用
吴兵,林子豪,苏鑫,吴方烈,张文芬..考虑航速约束的船舶编队乘潮航行控制[J].哈尔滨工程大学学报,2026,47(3):630-642,13.基金项目
国家重点研发计划(2023YFB4301802) （2023YFB4301802）
国家自然科学基金项目(52272422) （52272422）
湖北省科技厅项目(2024CSA093). （2024CSA093）
