考虑航速约束的船舶编队乘潮航行控制OA

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.