Volume 24 Issue 5
Oct.  2024
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Article Navigation >  Journal of Traffic and Transportation Engineering  > 2024  >  24(5): 333-347
LI Chen, YAN Xin-ping, LIU Jia-lun, TANG Min, CHEN Guang-lin, LIN Nan. Design and application of ship remote-driving control system[J]. Journal of Traffic and Transportation Engineering, 2024, 24(5): 333-347. doi: 10.19818/j.cnki.1671-1637.2024.05.021
Citation: LI Chen, YAN Xin-ping, LIU Jia-lun, TANG Min, CHEN Guang-lin, LIN Nan. Design and application of ship remote-driving control system[J]. Journal of Traffic and Transportation Engineering, 2024, 24(5): 333-347. doi: 10.19818/j.cnki.1671-1637.2024.05.021
shu

Design and application of ship remote-driving control system

doi: 10.19818/j.cnki.1671-1637.2024.05.021
  • 1.

    State Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063, Hubei, China

  • 2.

    School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan 430063, Hubei, China

  • 3.

    Intelligent Transport Systems Research Center, Wuhan 430063, Hubei, China

  • 4.

    Hubei Donghu Laboratory, Wuhan 430063, Hubei, China

Funds:

National Key Research and Development Program of China 2022YFB4301402

National Natural Science Foundation of China 51920105014

National Natural Science Foundation of China 52272425

Fundamental Research Funds for the Central Universities 2024-JSJ-A1-02

More Information
  • Author Bio:

    LI Chen(1998-), male, doctoral student, chenli1998@whut.edu.cn

    YAN Xin-ping(1959-), male, professor, academician of Chinese Academy of Engineering, PhD, xpyan@whut.edu.cn

    LIU Jia-lun(1987-), male, professor, PhD, jialunliu@whut.edu.cn

  • Received Date: 2024-06-29
    Available Online: 2024-12-20
  • Publish Date: 2024-10-25
    Abstract
  • To ensure safe and efficient navigation and stable operation control under the "shore-based control supplemented by onboard monitoring and watch-keeping" mode, the definition of ship remote-driving control system and "ship-shore-cloud" cross-domain collaborative integrated fusion architecture were proposed. Aiming at the network time-varying delay problem under stochastic communication environments, incremental redundant retransmission and delay-tolerance compensation methods were integrated to establish the video communication processing mechanism. The Luenberger state observer was constructed to improve the networked control performance, and the control quantity offset caused by environmental interference or model mismatch could be avoided. A typical 64 TEU inland water model ship was taken as the research prototype to develop the system's modularized functions and standard interface protocols, and the effectiveness of the proposed method was verified at a control station 690 km away. Experimental results indicate that turning is more sensitive to network fluctuations compared with straight and path-following conditions. Specifically, the responding time of shipboard underlying hardware increases from 124.53 ms to 135.76 ms at the ultimate turning angle and rotation jitters. After optimization, the influence of 5% packet loss and 40 ms network jitters is eliminated, the end-to-end transmission delay is stabilized at 150-200 ms, and the video stutter rate is controlled within 1.2% by the video communication processing mechanism. The maximum lateral offset error of the path following is 1.54 m, with an average error of 0.61 m, improving the stability and reliability of remote-driving control system effectively, so that it can meet the requirements of typical remote-driving scenarios. As the driver needs some time to familiar with the ship's current steering task and motion state, immediate exit from the control loop will result in increased offsets, temporary jitter, and oscillations during take-over.

     

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