随着智能船舶技术的迅速发展，自动靠泊控制成为实现智能船舶完全自动控制的重要环节。然而，风、浪、流以及岸壁效应带来的外部干扰和系统不确定性，使自动靠泊控制变得更加复杂。基于此，本文提出一种基于二自由度回路成型的自动靠泊控制方法。首先，对船舶模型的不确定性进行分析。然后，利用二自由度回路（2DOF）成型对控制器进行设计，前馈部分用于优化闭环系统的时域响应，反馈部分提高系统的鲁棒稳定性和干扰抑制能力。最后通过仿真实验对所提方法的有效性和优越性进行验证。仿真结果表明，所提方法在复杂环境下具有较强的抗干扰能力，能够有效减少船舶首向和速度波动，提升靠泊精度，为智能船舶的自动靠泊控制提供了可靠的解决方案。
With the rapid development of intelligent ship technology, automatic berthing control is an important step to realize the fully automatic control of intelligent ships. However, external disturbances and system uncertainties introduced by wind, wave, currents, and bank effects make automatic berthing control more complicated. Based on this, an automatic berthing control method based on 2-degree-of-freedom loop shaping is proposed in this paper. Firstly, the uncertainty of the ship model is analyzed. Then, the controller is designed by using two-degree-of-freedom loop shaping, where the feedforward part is used to optimize the time domain response of the closed-loop system, and the feedback part is used to improve the robust stability and the disturbance rejection capability of the system. Finally, the effectiveness and superiority of the proposed method is verified by simulation experiments. The simulation results show that the proposed method has better disturbance rejection capability in the complex environment, can effectively reduce the heading and speed fluctuation of the ship and improve the berthing accuracy. A reliable solution is provided for the automatic berthing control of intelligent ships.
2025,47(15): 58-64 收稿日期：2024-11-1
DOI：10.3404/j.issn.1672-7649.2025.15.010
分类号：U675.91
基金项目：国家重点研发计划项目（2018YFB1601500）；教育部中国高校产学研创新基金-新一代信息技术创新项目（2022IT191，2023IT209）；青岛市创业创新领军人才计划（19-3-2-8-zhc）；青岛科技大学研究生自主科研创新项目（B2023KY005）
作者简介：梁宇峰(1997-),男,硕士研究生,研究方向为载运装备智能化
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