The invention is suitable for the technical field of ship control, and provides a berthing motion control method of a towing system, the towing system, equipment and a medium, the method comprises the steps that state information of the towing system at the current moment is acquired, and the state information comprises the state of a tugboat, the state of a barge and the towing cable pulling force between the tugboat and the barge; generating a state space vector of the towing system according to the state of the tugboat and the state of the barge; inputting the state space vector and the towing cable tension into a pre-established Markov decision process model to obtain an action space vector of the tugboat; and carrying out berthing control on the towing system based on the action space vector. According to the invention, efficient, stable and safe barge dragging system berthing operation can be realized.

    本发明适用于船舶控制技术领域,提供了一种拖驳系统的靠泊运动控制方法、拖驳系统、设备及介质,本方法包括:获取拖驳系统在当前时刻的状态信息,状态信息包括拖船的状态、驳船的状态,以及拖船和驳船之间的拖缆拉力;根据拖船的状态和驳船的状态,生成拖驳系统的状态空间向量;将状态空间向量和拖缆拉力输入到预先建立的马尔科夫决策过程模型中,得到拖船的动作空间向量;基于动作空间向量,对拖驳系统进行靠泊控制。本发明能够实现高效、稳定和安全的拖驳系统靠泊作业。


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    Titel :

    Mooring motion control method of towing system, towing system, equipment and medium


    Weitere Titelangaben:

    拖驳系统的靠泊运动控制方法、拖驳系统、设备及介质


    Beteiligte:
    WANG LE (Autor:in) / REN TIANSHUO (Autor:in) / SU QINGYANG (Autor:in) / LU HONGRUI (Autor:in) / WANG XIN (Autor:in)

    Erscheinungsdatum :

    16.05.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS



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