CN112947443B - Ship control method, system and storage medium based on Henry gas solubility - Google Patents

Ship control method, system and storage medium based on Henry gas solubility Download PDF

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CN112947443B
CN112947443B CN202110170522.6A CN202110170522A CN112947443B CN 112947443 B CN112947443 B CN 112947443B CN 202110170522 A CN202110170522 A CN 202110170522A CN 112947443 B CN112947443 B CN 112947443B
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henry
state
information
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CN112947443A (en
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刘佳仑
王乐
李诗杰
谢玲利
张培
吴青
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Wuhan University of Technology WUT
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract

The invention discloses a ship control method, a system and a storage medium based on Henry gas solubility, wherein the method comprises the following steps: acquiring state information of a ship at the current moment; constructing a ship motion model; predicting ship control information of a ship at the next moment by adopting a Henry gas solubility prediction mode according to the state information of the current moment and a ship motion model; and controlling the ship to move according to the ship control information. According to the method, the state information of the ship at the current moment is acquired, the ship motion model is constructed, then the ship control information of the ship at the next moment is predicted in a Henry gas solubility prediction mode according to the state information of the current moment and the ship motion model, and then the ship motion is controlled through the control information, so that the convergence speed of the prediction process is improved, and meanwhile, the method can be effectively applied to various ship motion control processes. The invention can be widely applied to the technical field of ship control.

Description

Ship control method, system and storage medium based on Henry gas solubility
Technical Field
The invention relates to the technical field of ship control, in particular to a ship control method, a ship control system and a storage medium based on Henry gas solubility.
Background
With the increase of maritime activities, the maritime transportation environment is more and more complex, and the safe sailing of ship transportation becomes the focus of research in the field of shipping. At present, the control mode of ship motion is mainly controlled through a pre-trained model, the control mode generally cannot judge the next motion state of a ship in advance, and meanwhile, the model is pre-trained, so that the model depends on the constraint preset by the model, and the adaptability of the ship control method based on the model setting on other types of ships is greatly limited.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a vessel control method, a system and a storage medium based on the Henry gas solubility, which can be effectively applied to the motion processes of various vessels.
According to a first aspect embodiment of the invention, a vessel control method based on henry gas solubility comprises the following steps:
acquiring state information of a ship at the current moment;
constructing a ship motion model;
predicting ship control information of a ship at the next moment by adopting a Henry gas solubility prediction mode according to the state information of the current moment and the ship motion model;
and controlling the ship to move according to the ship control information.
The ship control method based on the Henry gas solubility has at least the following beneficial effects:
according to the embodiment of the invention, the state information of the ship at the current moment is acquired and the ship motion model is constructed, then the ship control information of the ship at the next moment is predicted in a Henry gas solubility prediction mode according to the state information of the current moment and the ship motion model, and the ship motion is controlled through the control information.
According to some embodiments of the invention, the obtaining of the state information of the ship at the current moment comprises:
acquiring hardware data of a ship at the current moment, wherein the hardware data comprises a ship rudder angle, a ship propeller rotating speed, GPS (global positioning system) position information, a ship course angle and a ship heading angle;
and analyzing the state information of the ship at the current moment according to the hardware data.
According to some embodiments of the invention, the constructing the ship motion model comprises:
and constructing a three-degree-of-freedom ship motion model according to the motion characteristic information of the ship.
According to some embodiments of the invention, the henry gas solubility prediction mode comprises the steps of:
initializing henry gas parameters including henry coefficient, partial pressure, and gas type;
evaluating and sequencing a plurality of gas clusters to determine gas meeting preset requirements;
updating Henry gas parameters according to the gas meeting the preset requirements;
local optimality of out-going gas clusters;
updating the worst gas position;
and determining the position information of the gas meeting the preset requirement.
According to some embodiments of the present invention, the evaluating and sorting the plurality of gas clusters to determine the gas meeting the preset requirement includes:
evaluating a plurality of gas clusters, and determining the optimal gas in the highest equilibrium state in each gas type;
and sequencing the optimal gases, and determining the optimal gases of the corresponding groups of the plurality of gas clusters.
According to some embodiments of the invention, the position information of the gas meeting the preset requirement is the ship control information.
According to some embodiments of the present invention, when the step of predicting the ship control information at the next time of the ship by using the henry gas solubility prediction method according to the state information at the current time and the ship motion model is executed, the method further comprises the following steps:
setting a fitness function, wherein the fitness function formula is as follows:
Figure BDA0002938766700000021
wherein q is a weighting factor; q is the total weight factor; n is a radical ofpPredicting the step number; f. ofbest(j) The fitness function value is a single time;
Figure BDA0002938766700000022
RREF＝[Rref(j),Rref(j+1),…,Rref(j+Np)]T； SSTATE＝[Sstate(j),Sstate(j+1),…,Sstate(j+Np)]；Sstate(j)＝[η v]；Rrefis a reference track.
A vessel control system based on henry gas solubility according to a second aspect embodiment of the present invention includes:
the acquisition module is used for acquiring the state information of the ship at the current moment;
the building module is used for building a ship motion model;
the prediction module is used for predicting the ship control information of the ship at the next moment by adopting a Henry gas solubility prediction mode according to the state information of the current moment and by combining the ship motion model;
and the control module is used for controlling the ship to move according to the ship control information.
A henry gas solubility-based ship control system according to a third aspect embodiment of the present invention includes:
at least one memory for storing a program;
at least one processor configured to load the program to perform the henry gas solubility-based ship control method according to the embodiment of the first aspect.
A storage medium according to a fourth aspect embodiment of the present invention stores therein a processor-executable program for executing the henry gas solubility-based ship control method according to the first aspect embodiment when the processor-executable program is executed by a processor.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The invention is further described with reference to the following figures and examples, in which:
FIG. 1 is a flow chart of a method for controlling a vessel based on Henry gas solubility in accordance with an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a ship control system according to an embodiment;
FIG. 3 is a structural schematic diagram of a Henry gas solubility prediction according to an embodiment;
FIG. 4 is a flowchart of vessel motion control according to an embodiment.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and the above, below, exceeding, etc. are understood as excluding the present numbers, and the above, below, within, etc. are understood as including the present numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly defined, terms such as set, etc. should be broadly construed, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the detailed contents of the technical solutions.
In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., means that a particular feature or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Referring to fig. 1, an embodiment of the present invention provides a ship control method based on henry gas solubility, and the embodiment may be applied to a server or a background processor of a ship control platform.
In the implementation process, the embodiment includes the following steps:
and S11, acquiring the state information of the ship at the current moment. Specifically, in the embodiment, the hardware data of the ship at the current moment, which is composed of the ship rudder angle, the ship propeller rotation speed, the GPS position information, the ship course angle, the ship heading angle and the like, is obtained first, and then the state information of the ship at the current moment is obtained through analysis according to the hardware data.
And S12, constructing a ship motion model.
In some embodiments, this step may construct a three-degree-of-freedom ship motion model according to the motion characteristic information of the ship.
Specifically, the three-degree-of-freedom ship motion model may be a three-degree-of-freedom ship maneuverability motion model, which is specifically shown in formula 1 and formula 2:
Figure BDA0002938766700000041
Figure BDA0002938766700000042
wherein eta ═ xpos,ypos]TAnd va＝[vx,vy,vr]TPosition state information and speed state information of the ship are respectively;
Figure BDA0002938766700000043
and
Figure BDA0002938766700000044
derivatives of position and velocity, respectively; x is the number ofposPosition information of the ship in the x direction; y isposPosition information of the ship in the y direction; v. ofxSpeed information of the ship in the x direction; v. ofySpeed information of the ship in the y direction; v. ofrAngular velocity information of the ship; tau is a propeller of a ship motion model; tau isdistrubIs an interference factor; cRBIs a Coriolis centripetal matrix; cAAdding a Coriolis centripetal matrix; r is a Jacobian transformation matrix; mRBIs a quality matrix; mAIs an additional quality matrix.
In the ship motion model, the input is a propeller tau and a disturbance factor taudistrubThe outputs are the distance traveled in the x and y directions and the vessel heading angle psi.
After the construction of the above model is completed, step S13 is performed.
And S13, predicting the ship control information of the ship at the next moment by adopting a Henry gas solubility prediction mode according to the state information of the current moment and the ship motion model.
Specifically, the gas solubility is affected by factors such as the type of gas, pressure, temperature, and the like, and is generally low in a high-temperature environment; under high pressure environment, the gas solubility is high. Based on the principle, the method for predicting the Henry gas solubility comprises the following steps:
assuming there are C clusters of gas in D dimension space, the total number of gas is N, and is marked as XiAs (1,2, …, N), the initial gas position: xi(t+1)＝Xmin+r×(Xmax-Xmin)。XmaxAnd XminIndicating the limit range of the problem, and for ships, the limit range of the rudder angle, i.e. Xmax＝τmax、Xmin＝τmin。
Initializing henry gas parameters, wherein the henry gas parameters comprise a henry coefficient HjPartial pressure pi,jAnd gasesType number j (C)i) (ii) a Initialization procedure is Hj(t)＝l1×rand(0,1)，pi,j＝l2X rand (0,1) and Cj＝l3×rand(0,1)，l1、 l2And l3Are all constants.
And evaluating and sequencing a plurality of gas clusters to determine the gas meeting the preset requirement.
Specifically, the step may determine the best gas in the highest equilibrium state, i.e., the best value, in the type corresponding to each gas j cluster by first evaluating a plurality of gas j clusters; the optimal gases are then ranked to determine the optimal gases for a number of corresponding clusters of gas clusters.
Updating the henry gas parameter according to the gas meeting the preset requirement, wherein the henry coefficient updating process is shown as formula 3:
Hj(t+1)＝Hj(t)×exp(-Cj×(1/T(t)-1/Tθ) Equation 3)
Wherein, t (t) exp (-t/iter); t is the temperature; t is a unit ofθ298.15; iter is the number of iterations.
The solubility update procedure is shown in equation 4:
Si,j(t)＝K×Hj(t+1)×pi,j(t) formula 4
K is a constant; hj(t +1) is the updated henry coefficient; p is a radical ofi,jAnd (t) is a partial pressure value before updating.
The updated gas position is shown in equation 5:
Xi(t+1)＝Xi(t)×r×γ×(Xi,best(t)-Xi,j(t))+F×r×α×(Si,j(t)×Xbest(t)-Xi,j(t)) formula 5
Wherein the content of the first and second substances,
Figure BDA0002938766700000051
the ability of gas i to interact with the gas in the cluster j; epsilon is 0.05; f is to change the direction of the search subject and provide diversity, i.e., positive and negative; fi,jThe fitness of the gas i in the j-type gas is obtained; fbestThe best gas for the whole problem; xi,bestThe best gas i in the j clusters; xbestThe best gas in the population; α is j gas over gas i equals 1; beta is a constant. r is a random number between 0 and 1.
After the above one parameter update is completed, the local optimum of the skipped gas cluster is specifically shown in formula 6:
Nw＝N×(rand(c2-c1)+c1) Equation 6
NwIs the worst main number; c. C1＝0.1；c20.2; n represents the total number of gases.
The worst gas position is updated by equation 7:
G(i,j)＝Gmin(i,j)+r×(Gmax(i,j)-Gmin(i,j)) Equation 7
G(i,j)Is the position of gas i in the j cluster; r is a random number; gmin(i,j)And Gmax(i,j)Indicating a range limitation of the problem, i.e. Gmin(i,j)＝Xmin、Gmax(i,j)＝Xmax。
Iteratively circulating the execution process of the Henry gas solubility prediction mode, and determining the position information of the gas meeting the preset requirement by combining with a ship motion model, wherein the position information X of the gas meeting the preset requirementiFor controlling information τ on vesselsthrust. In executing the above step S13, a prediction idea is introduced and a fitness function shown in equation 8 is set:
Figure BDA0002938766700000061
wherein q is a weighting factor; q is the total weight factor; n is a radical ofpPredicting the step number; f. ofbest(j) The fitness function value is a single time;
Figure BDA0002938766700000062
RREF＝[Rref(j),Rref(j+1),…,Rref(j+Np)]T； SSTATE＝[Sstate(j),Sstate(j+1),…,Sstate(j+Np)]；Sstate(j)＝[η v]；Rrefis a reference track.
And (5) iteratively circulating the execution process of the step S13 to obtain the optimal ship control input.
And S14, controlling the ship movement according to the ship control information.
Specifically, the above embodiment is applied to a specific ship control process, and as shown in fig. 2, the whole control system structure includes an upper computer 1-1, a lower computer 1-2, a driving mechanism 1-3, a sensor and other hardware devices 1-4 and an execution mechanism 1-5; the driving mechanism 1-3 comprises an electric motor and a steering engine controller; hardware devices 1-4 such as sensors comprise a GPS, a photoelectric encoder and an absolute value angle sensor; the actuating mechanism 1-5 comprises a propeller and a steering engine.
The application process comprises the following steps:
step 2.1: establishing a model ship motion model;
step 2.2: the propeller rotating speed, rudder angle value and distance measured by devices (1-4) such as a sensor generate messages, the messages are transmitted to a serial port transceiver to be fed back to an upper computer (1-1), and the analyzed result is transmitted to a ship motion model; the Henry gas solubility prediction algorithm is adopted to calculate the control input in the next step;
step 2.3: transmitting the rudder angle and propeller rotating speed instruction information required by the next navigation obtained by calculation into a lower computer (1-2) through a serial port transceiver;
step 2.4: the lower computer (1-2) serial port transceiver analyzes the received propeller rotating speed instruction information and rudder angle instruction information into corresponding rotating speed control signals and rudder angle control signals, and drives the motor and the steering engine controller to work, so that the propeller and the rudder respond to the control instructions.
As shown in FIG. 3, the D-dimensional space has C clusters of gases, the total number of the gases is N, and is marked as XiAs (1,2, …, N), the initial gas position: xi(t+1)＝Xmin+r×(Xmax-Xmin) According to the process, the ship motion model is combined, and the gas position information X is obtainediFor controlling shipsInput information tauthrust。
Initializing a henry gas parameter, wherein the henry gas parameter comprises a henry coefficient HjPartial pressure pi,jAnd gas type j (C)i) (ii) a Initialization procedure is Hj(t)＝l1×rand(0,1)，pi,j＝l2X rand (0,1) and Cj＝l3×rand(0,1)，l1、l2And l3Are all constants.
Step 3.1: each j cluster is evaluated, a prediction idea is introduced, and a fitness function F shown in formula 8 is set to determine the optimal control input that achieves the highest equilibrium state among its types. Then, the gases are sequenced, resulting in the optimal control input in the whole cluster:
Figure BDA0002938766700000071
wherein q is a weighting factor; q is the total weight factor; n is a radical ofpPredicting the step number; f. ofbest(j) The fitness function value is a single time;
Figure BDA0002938766700000072
RREF＝[Rref(j),Rref(j+1),…,Rref(j+Np)]T； SSTATE＝[Sstate(j),Sstate(j+1),…,Sstate(j+Np)]；Sstate(j)＝[η v]；Rrefis a reference track.
Step 3.2: the henry coefficient is updated using equation 3:
Hj(t+1)＝Hj(t)×exp(-Cj×(1/T(t)-1/Tθ) Equation 3)
Wherein, t (t) exp (-t/iter); t is the temperature; t isθ298.15; iter is the number of iterations.
Step 3.3: the solubility is updated using equation 4:
Si,j(t)＝K×Hj(t+1)×pi,j(t) formula 4
K is a constant; hj(t +1) is the updated henry coefficient; p is a radical ofi,jAnd (t) is a partial pressure value before updating.
Step 3.4: the gas position is updated using equation 5:
Xi(t+1)＝Xi(t)×r×γ×(Xi,best(t)-Xi,j(t))+F×r×α×(Si,j(t)×Xbest(t)-Xi,j(t)) formula 5
Wherein the content of the first and second substances,
Figure BDA0002938766700000073
the ability of cluster j gas i to interact with the gas in the cluster; epsilon is 0.05; f is to change the direction of the searching subject and provide diversity, namely positive and negative; fi,jThe fitness of the gas i in the j gas is obtained; fbestThe best gas for the whole problem; xi,bestThe best gas i in the j clusters; xbestThe best gas in the population; α is j gas over gas i equals 1; beta is a constant. r is a random number between 0 and 1.
Step 3.5: local optimality of jumping out of gas clusters using equation 6:
Nw＝N×(rand(c2-c1)+c1) Equation 6
NwIs the worst subject number; c. C1＝0.1；c20.2; n represents the total number of gases.
Step 3.6: update the worst gas position using equation 7:
G(i,j)＝Gmin(i,j)+r×(Gmax(i,j)-Gmin(i,j)) Equation 7
G(i,j)Is the position of gas i in the j cluster; r is a random number; gmin(i,j)And Gmax(i,j)Indicating a range limitation of the problem, i.e. Gmin(i,j)＝Xmin、Gmax(i,j)＝Xmax。
Step 3.7: and (3.1) iterating and circulating the step to obtain the optimal ship control input.
As shown in fig. 4, the vessel state and the like are initially set, vessel information is received by the lower computer and uploaded to the upper computer, and a next motion control command is solved by the vessel henry gas solubility prediction algorithm. And sending the input result of the controller to a lower computer and then sending the input result to an execution mechanism to execute a command. And finally, judging, if the task is finished, storing the data, and if the task is not finished, circularly executing the task until the task is finished.
In summary, the embodiment predicts the ship control information at the next moment in real time by adopting the henry gas solubility prediction mode, so as to improve the convergence speed of the prediction process, increase the prediction means, and meanwhile, enable the embodiment to be effectively applied to various ship motion control processes.
The embodiment of the invention provides a ship control system based on Henry gas solubility, which comprises:
the acquisition module is used for acquiring the state information of the ship at the current moment;
the building module is used for building a ship motion model;
the prediction module is used for predicting the ship control information of the ship at the next moment by adopting a Henry gas solubility prediction mode according to the state information of the current moment and by combining the ship motion model;
and the control module is used for controlling the ship to move according to the ship control information.
The content of the embodiment of the method of the invention is all applicable to the embodiment of the system, the function of the embodiment of the system is the same as the embodiment of the method, and the beneficial effect achieved by the embodiment of the system is the same as the beneficial effect achieved by the method.
The embodiment of the invention provides a ship control system based on Henry gas solubility, which comprises:
at least one memory for storing a program;
at least one processor for loading the program to perform the henry gas solubility-based ship control method as shown in fig. 1.
The content of the embodiment of the method of the invention is all applicable to the embodiment of the system, the function of the embodiment of the system is the same as the embodiment of the method, and the beneficial effect achieved by the embodiment of the system is the same as the beneficial effect achieved by the method.
An embodiment of the present invention provides a storage medium in which a processor-executable program is stored, the processor-executable program being configured to execute the henry gas solubility-based ship control method shown in fig. 1 when executed by a processor.
The embodiment of the invention also discloses a computer program product or a computer program, which comprises computer instructions, and the computer instructions are stored in a computer readable storage medium. The computer instructions may be read from a storage medium by a processor of a computer device, and the computer instructions executed by the processor cause the computer device to perform the henry gas solubility-based ship control method shown in fig. 1.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.

Claims (9)

1. A ship control method based on Henry gas solubility is characterized by comprising the following steps:
acquiring state information of a ship at the current moment;
constructing a ship motion model;
predicting ship control information of a ship at the next moment by adopting a Henry gas solubility prediction mode according to the state information of the current moment and the ship motion model;
controlling the ship to move according to the ship control information;
when the step of predicting the ship control information of the ship at the next moment by adopting a Henry gas solubility prediction mode according to the state information of the current moment and the ship motion model is executed, the method further comprises the following steps:
setting a fitness function, wherein the fitness function formula is as follows:
Figure FDA0003649197010000011
wherein q is a weighting factor; q is the total weight factor; n is a radical of hydrogenpPredicting the step number; f. ofbest(j) The fitness function value is a single time;
Figure FDA0003649197010000012
RREF＝[Rref(j),Rref(j+1),…,Rref(j+Np)]T；SSTATE＝[Sstate(j),Sstate(j+1),…,Sstate(j+Np)]；Sstate(j)＝[ηv]；Rrefis a reference track.
2. The method for controlling the ship based on the Henry gas solubility according to claim 1, wherein the step of obtaining the state information of the ship at the current moment comprises the following steps:
acquiring hardware data of a ship at the current moment, wherein the hardware data comprises a ship rudder angle, a ship propeller rotating speed, GPS (global positioning system) position information, a ship course angle and a ship heading angle;
and analyzing the state information of the ship at the current moment according to the hardware data.
3. The henry gas solubility-based ship control method according to claim 1, wherein the building ship motion model is specifically:
and constructing a three-degree-of-freedom ship motion model according to the motion characteristic information of the ship.
4. The henry gas solubility-based ship control method according to claim 1, wherein the henry gas solubility prediction mode comprises the following steps:
initializing henry gas parameters including henry coefficient, partial pressure, and gas type;
evaluating and sequencing a plurality of gas clusters, and determining gas meeting preset requirements;
updating Henry gas parameters according to the gas meeting the preset requirements;
local optimality of out-going gas clusters;
updating the worst gas position;
and determining the position information of the gas meeting the preset requirement.
5. The henry gas solubility-based ship control method according to claim 4, wherein the evaluating and sorting the plurality of gas clusters to determine the gas meeting the preset requirement comprises:
evaluating a plurality of gas clusters, and determining the optimal gas in the highest equilibrium state in each gas type;
and sequencing the optimal gases, and determining the optimal gases of the corresponding groups of the plurality of gas clusters.
6. The henry gas solubility-based ship control method according to claim 4, wherein the position information of the gas meeting the preset requirement is the ship control information.
7. A henry gas solubility-based marine vessel control system, comprising:
the acquisition module is used for acquiring the state information of the ship at the current moment;
the building module is used for building a ship motion model;
the prediction module is used for predicting the ship control information of the ship at the next moment by adopting a Henry gas solubility prediction mode according to the state information of the current moment and by combining the ship motion model;
the control module is used for controlling the ship to move according to the ship control information;
when the step of predicting the ship control information of the ship at the next moment by adopting a Henry gas solubility prediction mode according to the state information of the current moment and the ship motion model is executed, the method further comprises the following steps:
setting a fitness function, wherein the fitness function formula is as follows:
Figure FDA0003649197010000021
wherein q is a weighting factor; q is the total weight factor; n is a radical of hydrogenpPredicting the step number; f. ofbest(j) The fitness function value is a single time;
Figure FDA0003649197010000022
RREF＝[Rref(j),Rref(j+1),…,Rref(j+Np)]T；SSTATE＝[Sstate(j),Sstate(j+1),…,Sstate(j+Np)]；Sstate(j)＝[ηv]；Rrefis a reference track.
8. A henry gas solubility-based marine vessel control system, comprising:
at least one memory for storing a program;
at least one processor for loading the program to perform the henry gas solubility-based vessel control method of any one of claims 1-6.
9. A storage medium in which a processor-executable program is stored, wherein the processor-executable program, when executed by a processor, is for performing the henry gas solubility-based ship control method according to any one of claims 1 to 6.
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