本文针对多艘拖轮对海上大型船舶进行带缆伴航的问题，提出一种基于分层模型预测控制的带缆自主伴航控制策略。在顶层考虑带缆伴航安全性约束，设计基于多约束MPC的轨迹规划器以规划安全的拖轮伴航轨迹，并提出前置预优化机制解决多安全性约束下的初始解猜测问题。在底层基于双全回转推进器特性设计轨迹跟踪控制器，控制拖轮跟踪顶层规划的安全轨迹，实现多拖轮带缆自主伴航控制。仿真试验结果表明，所提控制策略可以实现安全的多拖轮带缆自主伴航控制，可为拖轮自主伴航的应用提供理论参考。
This article proposes an autonomous navigation control strategy with towline constraints considered based on hierarchical model predictive control for the problem of multi-tug accompanying large ships. At the top level, considering the safety constraints introduced by towlines, a trajectory planner based on multi constraint MPC is designed to plan a safe navigation trajectory, and a pre optimization mechanism is proposed to solve the initial point guessing problem under multiple safety constraints. A trajectory tracking controller based on the layout mode of dual azimuth thrusters at the bottom layer is designed to control the tugboats following the trajectory planned by top-level, and achieve autonomous navigation control of multi-tug. The simulation results show that the control strategy proposed can achieve safe autonomous navigation control of multi-tug with towline constraints considered.
2025,47(6): 13-20 收稿日期：2024-5-21
DOI：10.3404/j.issn.1672-7649.2025.06.003
分类号：U664.82
基金项目：山东省重点研发计划（2021SFGC0601）
作者简介：郝致远（1999 – ），男，硕士研究生，研究方向为船舶运动控制
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