CN105278535B - A kind of automated steering cooperative control method for unpowered facility traction system - Google Patents
A kind of automated steering cooperative control method for unpowered facility traction system Download PDFInfo
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- CN105278535B CN105278535B CN201510817854.3A CN201510817854A CN105278535B CN 105278535 B CN105278535 B CN 105278535B CN 201510817854 A CN201510817854 A CN 201510817854A CN 105278535 B CN105278535 B CN 105278535B
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Abstract
The invention discloses a kind of automated steering cooperative control method for unpowered facility traction system：Establish unpowered facility traction system model；According to unpowered facility traction system model, the course heading coordination control strategy of side towboat is designed, the course for carrying out the unpowered facility traction system model is coordinated；According to unpowered facility traction system model, design side towboat, the towing tension coordination control strategy of towing towboat, the towing tension for carrying out the unpowered facility traction system model is coordinated；Realize the intelligent coordinated control to unpowered facility traction system model.The present invention utilizes synergy principle, from two big factor of towboat towing tension and course heading, build collaborative strategy, dominate the mutual motion of towing towboat and unpowered facility, unpowered facility is set to be automatically moved in the steering course bearing specified, in motion process, it ensure that all individual courses of traction system reach and turn to course, reduce the left and right skew and concussion of unpowered facility in traction.
Description
Technical Field
The invention relates to an intelligent cooperative control technology, in particular to an intelligent steering cooperative control method for an unpowered facility towing system.
Background
At present, the transportation volume of unpowered civil engineering facilities is also increasing, and the unpowered facilities do not have any power, so that the marine floating transportation of the unpowered facilities needs to be assisted by the towing of ships. The unpowered target facility usually needs to be provided with a plurality of tugs to ensure the transportation reliability, the coordination among the tugs mainly depends on manual operation, the condition of each tug needs to be known during adjustment, the operation influence of a single tug needs to be considered, the operation of other tugs needs to be coordinated, the tugs are integrally matched with the movement of the towing target, the operation time of the whole towing system is prolonged, the speed is reduced, the influence of human factors is great, the self-adaption capability is weak, the risk probability of towing is increased, if any tug cannot be matched in time or has errors, the unpowered facility can overturn or sink, the rescue is difficult, and huge loss can be caused.
The invention aims at the intelligent coordination mode among the tugs of the tug system research, so that the unpowered facility tug system can automatically drive the system to move through a certain control technology, and the respective movement among the tugs can be intelligently adjusted according to the movement track of the facility, so that the system can ensure a stable floating route when turning.
Disclosure of Invention
The invention aims to provide an intelligent steering cooperative control method for an unpowered facility towing system; firstly, establishing an unpowered facility towing system model; secondly, designing a course angle cooperative control strategy of the side towing tug according to the unpowered facility towing system model, and carrying out course coordination on the unpowered facility towing system model; designing a towing force cooperative control strategy of a side towing tug and a hanging towing tug according to the unpowered facility towing system model, and carrying out towing force coordination of the unpowered facility towing system model; through the design of the course angle cooperative control strategy and the towing force cooperative control strategy, the intelligent cooperative control of the unpowered facility towing system model is realized. The invention utilizes the principle of synergetics to solve the intelligent steering of the towing system under the cooperative control strategy, constructs the cooperative strategy from two factors of towing force and course angle of the towing ship, carries out combined control, and further governs the mutual movement of the hanging towing ship, the side towing ship and the unpowered facility, so that the unpowered facility automatically moves to the appointed steering course direction.
In order to achieve the purpose, the invention is realized by the following technical scheme:
an intelligent steering cooperative control method for an unpowered facility towing system is characterized by comprising the following steps:
establishing an unpowered facility towing system model;
designing a course angle cooperative control strategy of the side-towed tug according to the unpowered facility towing system model, and carrying out course coordination on the unpowered facility towing system model;
designing a towing force cooperative control strategy of a side towing tug and a hanging towing tug according to the unpowered facility towing system model, and carrying out towing force coordination of the unpowered facility towing system model;
and through the design of the course angle cooperative control strategy and the towing force cooperative control strategy, the intelligent cooperative control of the unpowered facility towing system model is realized.
Preferably, the concrete steps of establishing the unpowered facility towing system model are as follows:
s1, the unpowered facility towing system model specifically comprises:
a towing vessel;
one end of the unpowered facility is connected with the tail part of the towing and hauling boat through a cable;
the tail part of the side-towed tug is connected with one side surface of the unpowered facility through a cable;
and S2, establishing a ship position model according to the unpowered facility towing system model established in the step S1.
Preferably, the step S2 includes:
s2.1, establishing a ship position model of the towing and towing ship:
yt 12 ＝y 1 -xp 1 sinφ 1 -y 2 -xp 2 sinφ 2 (1)；
xt 12 ＝x 1 -xp 1 cosφ 1 -x 2 -xp 2 cosφ 2 (2)；
w 1 ＝φ 1 -r 12 (4)；
w 2 ＝r 12 -φ 2 (5)；
wherein, y 1 、x 1 Is the position coordinate of the center of gravity of the towing vessel 2 、x 2 Is the center of gravity position coordinate, xp, of the unpowered appliance 1 、xp 2 Respectively the distance from the end point of the cable to the gravity center of the towing and hanging boat, the distance from the end point of the cable to the gravity center of the unpowered facility, phi 1 、φ 2 Respectively the course angle values, w, of the towing vessel and the unpowered facility 1 、w 2 Respectively the included angle between the towing tug course and the cable, the included angle between the unpowered facility course and the cable, r 12 Is the included angle between the cable between the towing tug and the unpowered facility and the north; yt 12 Is the transverse distance between the cable end of the towing vessel and the cable end of the unpowered facility; xt of 12 Is the longitudinal distance between the cable end of the towing vessel and the cable end of the unpowered facility;
s2.2, establishing a ship position model of the side-towed tug:
yt 23 ＝y 2 -xp 4 sinφ 2 -d 0 cosφ 2 -y 3 +xp 3 sinφ 3 (6)；
xt 23 ＝x 2 -xp 4 cosφ 2 -d 0 sinφ 2 -x 3 +xp 3 cosφ 3 (7)；
w 3 ＝r 23 -φ 3 (9)；
w 4 ＝r 23 -φ 2 (10)；
wherein, y 3 、x 3 Is the coordinate of the position of the center of gravity, xp, of the side tug 3 、xp 4 Respectively the distance from the end point of the cable to the gravity center of the side-towed tug and the distance from the end point of the cable to the gravity center of the unpowered facility, phi 3 Is the course angle value, w, of the side-towed tug 3 、w 4 Respectively the included angle between the course of the side-towed tug and the cable, the included angle between the course of the unpowered facility and the cable, and r 23 Is the included angle between the cable between the side-towed tug and the unpowered facility and the north; yt 23 Is the transverse distance, xt, between the cable end of the side tug and the cable end of the unpowered facility 23 Is the longitudinal distance between the cable end of the side tug and the cable end of the unpowered facility.
Preferably, a course angle cooperative control strategy of the side-towed tug is designed, and the specific steps for carrying out course coordination of the unpowered facility towing system model are as follows:
a1, setting a preset steering angle of the unpowered facility towing system model
A2, the towing and hanging tug is controlled by adopting a proportional-integral-derivative control method, and the towing and hanging tug is controlled according to the following formula:
wherein u is φ3 The course angle change law of the side-towed tug is obtained;
and A3, when the model of the unpowered equipment towing system is stabilized after the steering is finished, the unpowered equipment approaches to an ideal state, r 12 Value approaches phi 1 Value such that the overall course trend tends towards
Preferably, in the step A2, the towboat compensates an included angle w between the towboat heading and the cable by adjusting the heading of the towboat 1 The value is enabled to be close to zero, and the heading angle value phi of the side-towed tug is considered to be converted into a terrestrial coordinate system 3 Comprises the following steps:
φ 3 ＝φ 1 -w 1 ＝r 12 (12)。
preferably, according to the unpowered facility towing system model, the specific steps of coordinating the towing force of the unpowered facility towing system model are as follows:
b1, the towing boat and the side towing boat both comprise a plurality of clock gears with different speeds; the clock gear with a plurality of different speeds comprises: full, half, slow and micro gear; in an initial state, arranging both the hanging tug and the side tug on a half-gear;
b2, setting the corresponding cable of the towing boat on each clock gear to be stressed and fixed, and carrying out towing force regulation and control on the towing boat according to the following formula:
wherein u is T1 Is the towing force variation law of the towing vessel, F 1 As a function of the potential energy of said towing vessel, θ 1 The angle between the preset course of the towing tug and the cable is set;
b3, setting the corresponding cable of the side-towed tug on each clock gear to be stressed and fixed, and carrying out towing force regulation and control on the side-towed tug according to the following formula:
wherein u is T3 Is the rate of change of towing force, F, of the side-towed tug 2 As a function of the potential energy of the side tug, theta 2 Is the preset angle between the heading of the towing tug and the cable.
Preferably, in the step B2, the F 1 The specific function of (a) is as follows:
wherein, c> 0 is the gain coefficient, | | r DW I is the distance between the towing vessel and the unpowered facility, d 01 The balance distance between the towing vessel and the unpowered facility is preset.
Preferably, in the step B3, the F 2 The specific function of (a) is as follows:
wherein, c&0 is the gain coefficient, | | r CW I is the distance between the side-towed tug and the unpowered facility, d 02 The balance distance between the side tug and the unpowered facility is preset.
Compared with the prior art, the invention has the following advantages:
the invention discloses an intelligent steering cooperative control method for an unpowered facility towing system; firstly, establishing an unpowered facility towing system model; secondly, designing a course angle cooperative control strategy of the side-towed tug according to the unpowered facility towing system model, and carrying out course coordination on the unpowered facility towing system model; designing a towing force cooperative control strategy of a side towing tug and a hanging towing tug according to the unpowered facility towing system model, and carrying out towing force coordination of the unpowered facility towing system model; by the design of the course angle cooperative control strategy and the towing force cooperative control strategy, the intelligent cooperative control of the unpowered facility towing system model is realized. The invention utilizes the principle of synergetics to solve the intelligent steering of the towing system under the cooperative control strategy, constructs the cooperative strategy from two factors of towing force and course angle of the towing ship, carries out joint control, substitutes the cooperative control into the ship model motion model, carries out simulation verification to obtain the track trend of the system after control and the regulation and control change of course and towing force, and can obtain the control effect from the simulation result. The design of the steering cooperative control can lead the system to automatically steer and keep a stable state.
Drawings
Fig. 1 is a schematic overall structure diagram of an intelligent steering cooperative control method for an unpowered facility towing system according to the invention.
FIG. 2 is a schematic diagram of an embodiment of the intelligent steering cooperative control method for the unpowered facility towing system according to the invention.
Detailed Description
The present invention will now be further described by way of the following detailed description of a preferred embodiment thereof, taken in conjunction with the accompanying drawings.
As shown in fig. 1, an intelligent steering cooperative control method for an unpowered facility towing system comprises the following steps:
the method comprises the following steps of establishing an unpowered facility towing system model:
s1, the unpowered facility towing system model specifically comprises: a hanging towing tug, unpowered facilities and a side towing tug. One end of the unpowered facility is connected with the tail part of the hanging tug through a cable; the tail of the side-towed tug is connected with one side of the unpowered facility through a cable.
And S2, building a ship position model according to the unpowered facility towing system model built in the step S1. The step S2 includes:
as shown in fig. 2, S2.1, establishing a model of the position of the towing tug:
yt 12 ＝y 1 -xp 1 sinφ 1 -y 2 -xp 2 sinφ 2 (1)；
xt 12 ＝x 1 -xp 1 cosφ 1 -x 2 -xp 2 cosφ 2 (2)；
w 1 ＝φ 1 -r 12 (4)；
w 2 ＝r 12 -φ 2 (5)；
wherein, y 1 、x 1 Is the coordinate of the position of the center of gravity of the towing vessel 2 、x 2 Is the center of gravity position coordinate, xp, of the unpowered facility 1 、xp 2 Respectively the distance from the end point of the cable to the gravity center of the towing and hanging boat, the distance from the end point of the cable to the gravity center of the unpowered facility, phi 1 、φ 2 Respectively the course angle values, w, of the towing vessel and the unpowered facility 1 、w 2 Respectively the included angle between the towing tug course and the cable, the included angle between the unpowered facility course and the cable, r 12 The included angle between the cable between the towing tug and the unpowered facility and the north direction is included; yt 12 Is the transverse distance between the cable end of the towing vessel and the cable end of the unpowered facility; xt of 12 Is the longitudinal distance between the cable end of the towing vessel and the cable end of the unpowered facility; .
S2.2, establishing a ship position model of the side-towed tug:
yt 23 ＝y 2 -xp 4 sinφ 2 -d 0 cosφ 2 -y 3 +xp 3 sinφ 3 (6)；
xt 23 ＝x 2 -xp 4 cosφ 2 -d 0 sinφ 2 -x 3 +xp 3 cosφ 3 (7)；
w 3 ＝r 23 -φ 3 (9)；
w 4 ＝r 23 -φ 2 (10)；
wherein, y 3 、x 3 Is the position coordinate of the center of gravity, xp, of the side-towed tug 3 、xp 4 Respectively the distance from the end point of the cable to the gravity center of the side-towed tug and the distance from the end point of the cable to the gravity center of the unpowered facility, phi 3 Is the course angle value, w, of the side tug 3 、w 4 Respectively the angle between the course of the side-towed tug and the cable, the angle between the course of the unpowered facility and the cable, and r 23 Is the included angle between the mooring rope between the side-towed tug and the unpowered facility and the due north direction; yt 23 Is the transverse distance, xt, between the cable end of the side tug and the cable end of the unpowered facility 23 Is the longitudinal distance between the cable end of the side tug and the cable end of the unpowered facility.
The model of the unpowered facility towing system, disclosed by the invention, describes the change influence between the position and the course of a ship in the towing system, considers the coupling correlation among cables, obtains the change trend of the length and the angle of the cable, and is a precondition and a condition for carrying out cooperative regulation.
And designing a course angle cooperative control strategy of the side-towed tug according to the unpowered facility towing system model, and carrying out course coordination on the unpowered facility towing system model. The method comprises the following specific steps:
a1, setting a preset steering angle of a model of the unpowered facility towing system
A2, the towing and towing boat is controlled by adopting a proportional-integral-derivative control method, and the side towing and towing boat is controlled according to the following formula:
wherein u is φ3 The course angle change law of the side-towed tug.
A3, when the model of the unpowered facility towing system is stabilized after the steering is finished, the unpowered facility approaches an ideal state, and r is 12 Value approaches phi 1 Value such that the overall course trend tends towards
In the present embodiment, the first and second electrodes are,the desired steering heading is set to a range of between 10 deg. -60 deg..
In step A2, the towing and hanging boat compensates the included angle w between the towing and hanging boat course and the cable by adjusting the self course 1 The value is enabled to approach zero, and the heading angle value phi of the side-towed tug is considered to be converted into a terrestrial coordinate system 3 Comprises the following steps:
φ 3 ＝φ 1 -w 1 ＝r 12 (12)。
under the steering control of the unpowered facility towing system, the steering course of the side-towing tug at the moment is r 12 In combination with the model of the ship position r 12 The value of (A) is determined by the position information of the towing vessel and the unpowered facility. At a given system steering angleWhen the temperature of the water is higher than the set temperature,to hang and drag a tug boatThe value is steered, the position of the system is changed under the traction action of the cable, and the steering angle of the side-towed tug is controlled according to the position change to form the cooperative control of the course angle. When the steering ending system is stable, the unpowered facility approaches the ideal state, r 12 Value approaches phi 1 Value, global heading trend in the system
And designing a towing force cooperative control strategy of the side towing tug and the hanging towing tug according to the unpowered facility towing system model, and coordinating the towing force of the unpowered facility towing system model. The method comprises the following specific steps:
in the invention, because the unpowered facility towing system consists of three individuals, namely a hanging towing boat, a unpowered facility and a side towing boat, the unpowered facility towing system can be regarded as a group, and the cluster concept is used, so that the relative motion between the individuals in the group and the macroscopic motion of the whole group in the external environment are both originated from attraction and repulsion in a peripheral 'potential field', the potential field can be a virtual force field in the mathematical sense, namely an artificial potential energy function, and the individuals can interact with each other, so that the whole group forms a fixed network topology.
B1, the hanging tug boat and the side tug boat respectively comprise a plurality of clock gears with different speeds; the clock gear with a plurality of different speeds comprises: full, half, slow and micro gear; in the initial state, the towing boat and the side towing boat are both arranged on the half-gear.
B2, setting the corresponding cable of the towing boat on each clock gear to be stressed and fixed, and carrying out towing force regulation and control on the towing boat according to the following formula:
wherein u is T1 For the rate of change of towing force of a towing vessel, F 1 As a function of the potential energy of the towing vessel, θ 1 The angle between the preset heading of the towing and hoisting ship and the cable is set; in the present embodiment, θ 1 ＝5°。
For the connection between the towing vessel and the unpowered installation, w in FIG. 2 1 When the deviation is a certain magnitude and the variation trend is increased, the absolute value of w is satisfied 1 |>θ 1 ，dw 1 &And gt, 0, if the gravity is reflected, the dragging force is adjusted upwards, and otherwise, the dragging force is reduced. For the side-towed tug and the unpowered device, when w1 in FIG. 1 deviates by a certain amount, and w 3 When the trend of change is increased, i.e. | w is satisfied 1 |>θ 1 ，dw 3 &And gt, 0, if the gravity is reflected at the moment, the dragging force is adjusted upwards, and otherwise, the dragging force is reduced.
In step B2, F 1 The specific function of (a) is as follows:
wherein, c&0 is the gain coefficient, | | r DW I is the distance between the towing tug and the unpowered facility, d 01 The balance distance between the towing vessel and the unpowered facility is preset.
In this embodiment, the gain coefficient c =2 is set.
And B3, setting the corresponding cable of the side-towed tug on each clock gear to be stressed and fixed, and carrying out towing force regulation and control on the side-towed tug according to the following formula:
wherein u is T3 Rate of change of towing force for side-towed tugs, F 2 As a function of the potential energy of the side-towed tug, theta 2 Is as follows. Presetting an angle between the course of the towing tug and the cable; in this embodiment, θ 2 ＝5°
In step B3, F 2 In particularThe function is as follows:
wherein, c&0 is the gain coefficient, | | r CW I is the distance between the side tug and the unpowered facility, d 02 The balance distance between the side tug and the unpowered facility is preset.
According to the invention, by means of an artificial potential energy method, when the unpowered facility towing system steers, the change of the ship position of any one of the towing ship, the unpowered facility and the side towing ship triggers the change of potential energy repulsion among systems, when the distance among the individuals keeps balance, the unpowered facility towing system is not influenced by any potential field force and does not need to be adjusted, and once the unpowered facility towing system is separated from the balance, the individuals are influenced by attraction or repulsion, so that the required towing force is changed. In the towing force cooperative control, mainly the force allocation between the hanging towing tug and the unpowered facility and between the side towing tug and the unpowered facility, the positive and negative of the potential field force are solved by calculating the ship position distance between the hanging towing tug and the unpowered facility, and the towing force is increased when the potential field force is expressed as the gravitation and is reduced when the potential field force is expressed as the repulsive force. However, considering the characteristics of large rotational inertia, sluggish ductility and the like between systems, the condition for judging the adjustment of the dragging force needs to be strengthened, and the trend judgment is carried out by utilizing the change angle of the included angle between the cable and the course.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (8)
1. An intelligent steering cooperative control method for an unpowered utility towing system, the steering cooperative control method comprising:
establishing an unpowered facility towing system model;
designing a course angle cooperative control strategy of the side towing tug according to the unpowered facility towing system model, and carrying out course coordination on the unpowered facility towing system model;
designing a towing force cooperative control strategy of a side towing tug and a hanging towing tug according to the unpowered facility towing system model, and carrying out towing force coordination of the unpowered facility towing system model;
through the design of the course angle cooperative control strategy and the towing force cooperative control strategy, the intelligent cooperative control of the unpowered facility towing system model is realized.
2. An intelligent steering coordination control method for an unpowered facility towing system according to claim 1, wherein the concrete steps of establishing the model of the unpowered facility towing system are as follows:
s1, the model of the unpowered facility towing system specifically comprises:
hoisting and towing the tug;
one end of the unpowered facility is connected with the tail part of the towing and hanging boat through a cable;
the tail part of the side-towed tug is connected with one side surface of the unpowered facility through a cable;
and S2, establishing a ship position model according to the unpowered facility towing system model established in the step S1.
3. The intelligent steering cooperative control method for the unpowered utility towing system according to claim 2, wherein the step S2 includes:
s2.1, establishing a ship position model of the towing and towing ship:
yt 12 ＝y 1 -xp 1 sinφ 1 -y 2 -xp 2 sinφ 2 (1)；
xt 12 ＝x 1 -xp 1 cosφ 1 -x 2 -xp 2 cosφ 2 (2)；
w 1 ＝φ 1 -r 12 (4)；
w 2 ＝r 12 -φ 2 (5)；
wherein, y 1 、x 1 Is the position coordinate of the center of gravity of the towing vessel 2 、x 2 Is the center of gravity position coordinate, xp, of the unpowered appliance 1 、xp 2 Respectively the distance from the end point of the cable to the gravity center of the towing and hanging boat, the distance from the end point of the cable to the gravity center of the unpowered facility, phi 1 、φ 2 Respectively the course angle values, w, of the towing vessel and the unpowered facility 1 、w 2 Respectively the included angle between the towing tug course and the cable, the included angle between the unpowered facility course and the cable, r 12 Is the included angle between the cable between the towing tug and the unpowered facility and the north; yt 12 Is the transverse distance between the cable end of the towing vessel and the cable end of the unpowered facility; xt of 12 Is the longitudinal distance between the cable end of the towing ship and the cable end of the unpowered facility;
s2.2, establishing a ship position model of the side-towed tug:
yt 23 ＝y 2 -xp 4 sinφ 2 -d 0 cosφ 2 -y 3 +xp 3 sinφ 3 (6)；
xt 23 ＝x 2 -xp 4 cosφ 2 -d 0 sinφ 2 -x 3 +xp 3 cosφ 3 (7)；
w 3 ＝r 23 -φ 3 (9)；
w 4 ＝r 23 -φ 2 (10)；
wherein, y 3 、x 3 Is the position coordinate of the center of gravity, xp, of the side-towed tug 3 、xp 4 Respectively the distance from the end point of the cable to the gravity center of the side-towed tug and the distance from the end point of the cable to the gravity center of the unpowered facility, phi 3 Is the course angle value, w, of the side-towed tug 3 、w 4 Respectively the included angle between the course of the side-towed tug and the cable, the included angle between the course of the unpowered facility and the cable, and r 23 Is the included angle between the cable between the side-towed tug and the unpowered facility and the north; yt 23 Is the transverse distance, xt, between the cable end of the side tug and the cable end of the unpowered facility 23 Is the longitudinal distance between the cable end of the side tug and the cable end of the unpowered facility.
4. An intelligent steering cooperative control method for an unpowered facility towing system as recited in claim 3, wherein the step of designing the course angle cooperative control strategy of the side tow boat and performing the course coordination of the model of the unpowered facility towing system comprises:
a1, setting a preset steering angle of the unpowered facility towing system model
A2, the towing and hanging tug is controlled by adopting a proportional-integral-derivative control method, and the towing and hanging tug is controlled according to the following formula:
wherein u is φ3 The course angle change law of the side-towed tug is set;
and A3, when the model of the unpowered equipment towing system is stabilized after the steering is finished, the unpowered equipment approaches to an ideal state, r 12 Value approaches phi 1 Value such that the overall course trend tends towards
5. The intelligent steering cooperative control method for the unpowered utility towing system according to claim 4, wherein in the step A2, the towing vessel compensates for an angle w between the towing vessel heading and the cable by adjusting the towing vessel heading 1 The value is enabled to be close to zero, and the heading angle value phi of the side-towed tug is considered to be converted into a terrestrial coordinate system 3 Comprises the following steps:
φ 3 ＝φ 1 -w 1 ＝r 12 (12)。
6. the intelligent steering cooperative control method for the unpowered facility towing system according to claim 3, wherein the concrete steps of coordinating the towing force of the unpowered facility towing system model according to the unpowered facility towing system model are as follows:
b1, the towing boat and the side towing boat both comprise a plurality of clock gears with different speeds; the clock gear with a plurality of different speeds comprises: full, half, slow and micro gear; in an initial state, arranging the towing boat and the side towing boat on a half-gear;
b2, setting the corresponding cable of the towing boat on each clock gear to be stressed and fixed, and carrying out towing force regulation and control on the towing boat according to the following formula:
wherein u is T1 Is the drag force variation law of the towing vessel, F 1 As a function of the potential energy of said towing vessel, θ 1 The angle between the preset course of the towing tug and the cable is set;
b3, setting the corresponding cable of the side-towed tug on each clock gear to be stressed and fixed, and carrying out towing force regulation and control on the side-towed tug according to the following formula:
wherein u is T3 Is the towing force variation law of the side-towed tug, F 2 As a function of the potential energy of the side tug, theta 2 Is the preset angle between the heading of the towing tug and the cable.
7. The intelligent steering coordination control method for an unpowered utility towing system according to claim 6, wherein in said step B2, said F 1 The specific function of (a) is as follows:
wherein, c&0 is the gain coefficient, | | r DW I is the distance between the towing vessel and the unpowered facility, d 01 The balance distance between the towing vessel and the unpowered facility is preset.
8. The intelligent steering cooperative control method for an unpowered utility towing system according to claim 6, wherein in the step B3, the F 2 The specific function of (a) is as follows:
wherein, c&0 is the gain coefficient, | | r CW I is the distance between the side-towed tug and the unpowered facility, d 02 The balance distance between the side tug and the unpowered facility is preset.
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| DK179591B1 (en) * | 2016-03-31 | 2019-02-21 | A.P. Møller - Mærsk A/S | A tugboat with a capsizing and sinking prevention system |
| CN112051845A (en) * | 2020-08-17 | 2020-12-08 | 上海交通大学 | Distributed cluster control system and method for unmanned towing operation |
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