CN112947443B - Ship control method, system and storage medium based on Henry gas solubility - Google Patents

Abstract

The invention discloses a ship control method, a system and a storage medium based on Henry gas solubility, wherein the method comprises the following steps: acquiring state information of a ship at the current moment; constructing a ship motion model; predicting ship control information of a ship at the next moment by adopting a Henry gas solubility prediction mode according to the state information of the current moment and a ship motion model; and controlling the ship to move according to the ship control information. According to the method, the state information of the ship at the current moment is acquired, the ship motion model is constructed, then the ship control information of the ship at the next moment is predicted in a Henry gas solubility prediction mode according to the state information of the current moment and the ship motion model, and then the ship motion is controlled through the control information, so that the convergence speed of the prediction process is improved, and meanwhile, the method can be effectively applied to various ship motion control processes. The invention can be widely applied to the technical field of ship control.

Description

Ship control method, system and storage medium based on Henry gas solubility

technical field

The invention relates to the technical field of ship control, in particular to a ship control method, system and storage medium based on Henry gas solubility.

Background technique

With the increase of maritime activities, the marine transportation environment is becoming more and more complex, and the safe navigation of ship transportation has become the focus of research in the field of shipping. At present, the control method of ship motion is mainly controlled by a pre-trained model. This kind of control method usually cannot predict the next motion state of the ship in advance. At the same time, because the model is pre-trained, it depends on the pre-setting of the model. , which greatly limits the adaptability of model-based ship control methods on other types of ships.

SUMMARY OF THE INVENTION

The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the present invention proposes a ship control method, system and storage medium based on Henry gas solubility, which can be effectively applied to the motion process of various types of ships.

A method for controlling ships based on Henry's gas solubility according to the first aspect of the present invention, comprising the following steps:

Get the status information of the ship at the current moment;

Build a ship motion model;

According to the state information at the current moment in combination with the ship motion model, the Henry gas solubility prediction method is used to predict the ship control information of the ship at the next moment;

The movement of the vessel is controlled according to the vessel control information.

A ship control method based on Henry gas solubility according to an embodiment of the present invention has at least the following beneficial effects:

In the embodiment of the present invention, the state information of the ship at the current moment is obtained and the ship motion model is constructed, and then the ship control information of the ship at the next moment is predicted by the Henry gas solubility prediction method according to the state information at the current moment and the ship motion model. The information controls the ship motion. This implementation uses the Henry gas solubility prediction method to predict the ship control information at the next moment in real time, so as to improve the convergence speed of the prediction process, and at the same time, this embodiment can be effectively applied to various types of ship motion control processes.

According to some embodiments of the present invention, the acquiring the state information of the ship at the current moment includes:

Obtain the hardware data of the ship at the current moment, the hardware data includes the ship's rudder angle, the ship's propeller rotation speed, the GPS position information, the ship's heading angle, and the ship's heading angle;

The state information of the ship at the current moment is analyzed according to the hardware data.

According to some embodiments of the present invention, the construction of the ship motion model is specifically:

A three-degree-of-freedom ship motion model is constructed according to the motion characteristic information of the ship.

According to some embodiments of the present invention, the Henry gas solubility prediction method includes the following steps:

initialize Henry gas parameters, the Henry gas parameters include Henry coefficient, partial pressure and gas type;

Evaluate and rank several gas clusters to identify those that meet preset requirements;

Update Henry gas parameters according to the gas meeting the preset requirements;

Jump out of the local optimum of gas clusters;

Update the worst gas position;

Determine location information for gases that meet preset requirements.

According to some embodiments of the present invention, the evaluation and sorting of several gas clusters to determine the gas that meets the preset requirements includes:

Evaluation of several gas clusters to determine the best gas in the highest equilibrium state for each gas type;

The optimal gas is sorted, and the optimal gas of the group corresponding to the plurality of gas clusters is determined.

According to some embodiments of the present invention, the position information of the gas that meets the preset requirement is the ship control information.

According to some embodiments of the present invention, when performing the step of predicting the ship control information of the ship at the next moment by using the Henry gas solubility prediction method according to the state information at the current moment in combination with the ship motion model, the following steps are further included:

Set the fitness function, the fitness function formula is as follows:

R_REF＝[R_ref(j),R_ref(j+1),…,R_ref(j+N_p)]^T； S_STATE＝[S_state(j),S_state(j+1),…,S_state(j+N_p)]；S_state(j)＝[η v]；R_ref为参考轨迹。Among them, q is the weight factor; Q is the total weight factor; N _p is the number of prediction steps; f _best (j) is the single fitness function value;

R _REF =[R _ref (j),R _ref (j+1),…,R _ref (j+N _p )] ^T ; S _STATE =[S _state (j),S _state (j+1),… , S _state (j+N _p )]; S _state (j)=[η v]; R _ref is the reference trajectory.

A ship control system based on Henry's gas solubility according to the second aspect of the present invention, comprising:

The acquisition module is used to acquire the status information of the ship at the current moment;

Building blocks for building ship motion models;

The prediction module is used for predicting the ship control information of the ship at the next moment by using the Henry gas solubility prediction method according to the state information at the current moment in combination with the ship motion model;

The control module is used for controlling the movement of the ship according to the ship control information.

A ship control system based on Henry's gas solubility according to a third aspect of the present invention, comprising:

at least one memory for storing programs;

At least one processor, configured to load the program to execute the method for controlling a ship based on Henry gas solubility according to the embodiment of the first aspect.

A storage medium according to an embodiment of a fourth aspect of the present invention stores therein a program executable by a processor, and when executed by the processor, the program executable by the processor is used to execute the embodiment of the first aspect A ship control method based on Henry's gas solubility.

Additional aspects and advantages of the present invention will be set forth, in part, from the following description, and in part will be apparent from the following description, or may be learned by practice of the invention.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments, wherein:

Fig. 1 is a flow chart of a ship control method based on Henry's gas solubility according to an embodiment of the present invention;

2 is a schematic structural diagram of a ship control system according to an embodiment;

Fig. 3 is the Henry gas solubility prediction structural schematic diagram of a kind of embodiment;

FIG. 4 is a flow chart of ship motion control according to an embodiment.

Detailed ways

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, only used to explain the present invention, and should not be construed as a limitation of the present invention.

In the description of the present invention, it should be understood that the azimuth description, such as the azimuth or position relationship indicated by up, down, front, rear, left, right, etc., is based on the azimuth or position relationship shown in the drawings, only In order to facilitate the description of the present invention and simplify the description, it is not indicated or implied that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

In the description of the present invention, the meaning of several means one or more, the meaning of multiple means two or more, greater than, less than, exceeding, etc. are understood as not including this number, above, below, within, etc. are understood as including this number. If it is described that the first and the second are only for the purpose of distinguishing technical features, it cannot be understood as indicating or implying relative importance, or indicating the number of the indicated technical features or the order of the indicated technical features. relation.

In the description of the present invention, unless otherwise clearly defined, words such as setting should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

In the description of the present invention, reference to the terms "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples" or the like is meant to be used in conjunction with the embodiment. A particular feature or characteristic of the description or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Referring to FIG. 1 , an embodiment of the present invention provides a ship control method based on Henry gas solubility, and this embodiment can be applied to a server or a background processor of a ship control platform.

In the implementation process, this embodiment includes the following steps:

S11. Acquire the state information of the ship at the current moment. Specifically, in this embodiment, the hardware data of the ship at the current moment, which is composed of the ship's rudder angle, the ship's propeller speed, the GPS position information, the ship's heading angle, the ship's heading angle, etc., can be obtained first, and then the ship can be obtained by analyzing the hardware data. Status information at the current moment.

S12, constructing a ship motion model.

In some embodiments, this step may construct a three-degree-of-freedom ship motion model according to the motion characteristic information of the ship.

Specifically, the three-degree-of-freedom ship motion model may be a three-degree-of-freedom ship maneuvering motion model, which is specifically shown in Formula 1 and Formula 2:

和

分别为位置与速度的导数；x_pos为船舶x方向的位置信息；y_pos为船舶y方向的位置信息；v_x为船舶x方向的速度信息；v_y为船舶y方向的速度信息；v_r为船舶的角速度信息；τ为船舶运动模型的推进器；τ_distrub为干扰因素；C_RB为科氏向心矩阵；C_A为附加科氏向心矩阵；R为雅可比转换矩阵；M_RB为质量矩阵；M_A为附加质量矩阵。Wherein, η=[x _pos , y _pos ] ^T and v _a = [v _x , v _y , v _r ] ^T are the position state information and speed state information of the ship, respectively;

and

are the derivatives of position and speed respectively; x _pos is the position information of the ship in the x direction; y _pos is the position information of the ship in the y direction; v _x is the speed information of the ship in the x direction; v _y is the speed information of the ship in the y direction; v _r is the angular velocity information of the ship; τ is the propeller of the ship motion model; τ _distrub is the interference factor; C _RB is the Coriolis centripetal matrix; C _A is the additional Coriolis centripetal matrix; R is the Jacobian transformation matrix; M _RB is the Mass matrix; M _A is the additional mass matrix.

In the ship motion model, the input is the thrust and moment of the thruster τ and the disturbance factor τ _distrub , and the output is the traveled distance in the x and y directions and the ship's heading angle Ψ.

After completing the construction of the above model, step S13 is performed.

S13. According to the state information at the current moment and the ship motion model, use the Henry gas solubility prediction method to predict the ship control information of the ship at the next moment.

Specifically, the gas solubility is affected by factors such as gas type, pressure, temperature, etc. Generally, in a high temperature environment, the gas solubility is low; in a high pressure environment, the gas solubility is high. Based on the above principles, using Henry's gas solubility prediction methods include:

Assuming that there are C clusters of gases in the D-dimensional space, the total number of gases is N, denoted as X _i =(1,2,...,N), initialized gas position: X _i (t+1)=X _min +r×(X _max -X _min ). X _max and X _min represent the restricted range of the problem, and for ships, they represent the restricted range of the rudder angle, that is, X _max =τ _max , X _min =τ _min .

Initialize the Henry gas parameters, where the Henry gas parameters include the Henry coefficient H _j , the partial pressure p _i,j and the number of gas types j (C _i ); the initialization process is H _j (t)=l ₁ ×rand(0,1) , p _i,j =l ₂ ×rand(0,1) and C _j =l ₃ ×rand(0,1), and l ₁ , l ₂ and l ₃ are all constants.

Evaluate and rank several gas clusters to identify gases that meet preset requirements.

Specifically, in this step, by first evaluating several gas j clusters, determine the best gas with the highest equilibrium state in the type corresponding to each gas j cluster, that is, the best value; and then sort the best gases, Determine the optimal gas for the group corresponding to several gas clusters.

The Henry gas parameters are updated according to the gas that meets the preset requirements, and the update process of the Henry coefficient is shown in Equation 3:

H _j (t+1)=H _j (t)×exp(-C _j ×(1/T(t)-1/T ^θ )) Equation 3

Wherein, T(t)=exp(-t/iter); T is the temperature; T ^θ =298.15; iter is the number of iterations.

The solubility update process is shown in Equation 4:

S _i,j (t)=K×H _j (t+1)×pi _,j (t) Equation 4

K is a constant; H _j (t+1) is the Henry coefficient after updating; p _i,j (t) is the partial pressure value before updating.

The updated gas position is shown in Equation 5:

X _i (t+1)=X _i (t)×r×γ×(X _i,best (t)-X _i,j (t))+F×r×α×(S _i,j (t) ×X _best (t)-X _i,j (t)) Equation 5

为j簇气体i与团簇中气体的相互作用的能力；ε＝0.05； F为改变搜索主体的方向并提供多样性，也就是正负；F_i,j为j类气体中气体i的适应度；F_best为全习题最好的气体；X_i,best为j簇中最好的气体i；X_best为在种群中最好的气体；α为j团气体i上的气体等于1；β为常数。r为0到1之间的随机数。in,

is the ability of the j cluster gas i to interact with the gas in the cluster; ε=0.05; F is to change the direction of the search subject and provide diversity, that is, positive and negative; F _i,j is the adaptation of the gas i in the j type of gas degree; F _best is the best gas in the whole exercise; X _i,best is the best gas i in j cluster; X _best is the best gas in the population; α is the gas on j cluster gas i equal to 1; β is a constant. r is a random number between 0 and 1.

After completing the above one parameter update, the local optimum of the gas cluster jumps out, which is shown in Equation 6:

N _w =N×(rand(c ₂ -c ₁ )+c ₁ ) Equation 6

N _w is the worst body number; c ₁ =0.1; c ₂ =0.2; N is the total number of gases.

The worst gas position is updated by Equation 7:

G _(i,j) = _Gmin(i,j) +r×( _Gmax(i,j) -Gmin _(i,j) ) Equation 7

G _(i,j) is the position of gas i in j cluster; r is a random number; _Gmin(i,j) and _Gmax(i,j) represent the scope limit of the problem, namely _{Gmin(i,j )} =X _min , G _max(i,j) =X _max .

The execution process of the above-mentioned Henry gas solubility prediction method is iteratively looped, and the position information of the gas that meets the preset requirements is determined in combination with the ship motion model, wherein the position information X _i of the gas that meets the preset requirements is the ship control information τ _thrust . When performing the above step S13, the prediction idea is introduced, and the fitness function shown in formula 8 is set:

R_REF＝[R_ref(j),R_ref(j+1),…,R_ref(j+N_p)]^T； S_STATE＝[S_state(j),S_state(j+1),…,S_state(j+N_p)]；S_state(j)＝[η v]；R_ref为参考轨迹。Among them, q is the weight factor; Q is the total weight factor; N _p is the number of prediction steps; f _best (j) is the single fitness function value;

R _REF =[R _ref (j),R _ref (j+1),…,R _ref (j+N _p )] ^T ; S _STATE =[S _state (j),S _state (j+1),… , S _state (j+N _p )]; S _state (j)=[η v]; R _ref is the reference trajectory.

The execution process of the above step S13 is iteratively looped to obtain the optimal ship control input.

S14, control the movement of the ship according to the ship control information.

Specifically, the above embodiment is applied to a specific ship control process. As shown in FIG. 2 , the entire control system structure includes a host computer 1-1, a lower computer 1-2, a drive mechanism 1-3, sensors and other hardware devices 1-4. And the actuator 1-5; the drive mechanism 1-3 includes the motor and the steering gear controller; the sensor and other hardware devices 1-4 include GPS, photoelectric encoder and absolute value angle sensor; the actuator 1-5 includes the propeller and the steering gear.

The application process includes the following steps:

Step 2.1: Establish a model ship motion model;

Step 2.2: The propeller speed, rudder angle value, and distance measured by sensors and other equipment (1-4) generate a message, which is transmitted to the serial transceiver for feedback to the host computer (1-1), and the analysis result is transmitted to the ship motion model; the Henry gas solubility prediction algorithm is used to calculate the next control input;

Step 2.3: Send the calculated rudder angle and propeller speed command information required for the next sailing to the lower computer (1-2) through the serial transceiver;

Step 2.4: The serial transceiver of the lower computer (1-2) parses the received propeller speed command information and rudder angle command information into corresponding speed control signals and rudder angle control signals, and drives the motor and the steering gear controller to work, so that the The propeller and rudder respond to control commands.

As shown in Figure 3, there are C clusters of gases in the D-dimensional space, and the total number of gases is N, denoted as X _i =(1,2,...,N), and the initialized gas position: X _i (t+1)=X _min +r ×(X _max -X _min ), according to this process, combined with the ship motion model, the gas position information X _i is the ship control input information τ _thrust .

Initialize the Henry gas parameters, where the Henry gas parameters include Henry coefficient H _j , partial pressure p _i,j and gas type j(C _i ); the initialization process is H _j (t)=l ₁ ×rand(0,1), p _i,j =l ₂ ×rand(0,1) and C _j =l ₃ ×rand(0,1), and l ₁ , l ₂ and l ₃ are all constants.

Step 3.1: Evaluate each j-cluster, introduce the prediction idea, and set the fitness function F shown in Equation 8 to determine the optimal control input that obtains the highest equilibrium state among its types. Then, sort the gases to get the optimal control input across the group:

R_REF＝[R_ref(j),R_ref(j+1),…,R_ref(j+N_p)]^T； S_STATE＝[S_state(j),S_state(j+1),…,S_state(j+N_p)]；S_state(j)＝[η v]；R_ref为参考轨迹。Among them, q is the weight factor; Q is the total weight factor; N _p is the number of prediction steps; f _best (j) is the single fitness function value;

R _REF =[R _ref (j),R _ref (j+1),…,R _ref (j+N _p )] ^T ; S _STATE =[S _state (j),S _state (j+1),… , S _state (j+N _p )]; S _state (j)=[η v]; R _ref is the reference trajectory.

Step 3.2: Update the Henry coefficient using Equation 3:

H _j (t+1)=H _j (t)×exp(-C _j ×(1/T(t)-1/T ^θ )) Equation 3

Wherein, T(t)=exp(-t/iter); T is the temperature; T ^θ =298.15; iter is the number of iterations.

Step 3.3: Update the solubility using Equation 4:

S _i,j (t)=K×H _j (t+1)×pi _,j (t) Equation 4

K is a constant; H _j (t+1) is the Henry coefficient after updating; p _i,j (t) is the partial pressure value before updating.

Step 3.4: Update the gas position using Equation 5:

X _i (t+1)=X _i (t)×r×γ×(X _i,best (t)-X _i,j (t))+F×r×α×(S _i,j (t) ×X _best (t)-X _i,j (t)) Equation 5

为j簇气体i与团簇中气体的相互作用的能力；ε＝0.05； F为改变搜索主体的方向并提供多样性，也就是正负；F_i,j为j类气体中气体i的适应度；F_best为全习题最好的气体；X_i,best为j簇中最好的气体i；X_best为在种群中最好的气体；α为j团气体i上的气体等于1；β为常数。r为0和1之间的随机数。in,

is the ability of the j cluster gas i to interact with the gas in the cluster; ε=0.05; F is to change the direction of the search subject and provide diversity, that is, positive and negative; F _i,j is the adaptation of the gas i in the j type of gas degree; F _best is the best gas in the whole exercise; X _i,best is the best gas i in j cluster; X _best is the best gas in the population; α is the gas on j cluster gas i equal to 1; β is a constant. r is a random number between 0 and 1.

Step 3.5: Use Equation 6 to jump out of the local optima of the gas cluster:

N _w =N×(rand(c ₂ -c ₁ )+c ₁ ) Equation 6

N _w is the worst body number; c ₁ =0.1; c ₂ =0.2; N is the total number of gases.

Step 3.6: Update the worst gas position using Equation 7:

G _(i,j) = _Gmin(i,j) +r×( _Gmax(i,j) -Gmin _(i,j) ) Equation 7

G _(i,j) is the position of gas i in j cluster; r is a random number; _Gmin(i,j) and _Gmax(i,j) represent the scope limit of the problem, namely _{Gmin(i,j )} =X _min , G _max(i,j) =X _max .

Step 3.7: Iteratively loop step 3.1 to obtain the optimal ship control input.

As shown in Figure 4, firstly, initialize the ship status, etc., and upload the ship information received by the lower computer to the upper computer, and then solve the next motion control command through the ship Henry gas solubility prediction algorithm. Send the input result of the controller to the lower computer, and then send it to the actuator to execute the command. Finally, make a judgment. If the task ends, save the data. If the task is not completed, execute the task cyclically until the end.

To sum up, the above embodiment uses the Henry gas solubility prediction method to predict the ship control information at the next moment in real time, so as to improve the convergence speed of the prediction process and increase the means of prediction, and at the same time, this embodiment can be effectively applied to a variety of type of ship motion control process.

An embodiment of the present invention provides a ship control system based on Henry's gas solubility, including:

The acquisition module is used to acquire the status information of the ship at the current moment;

Building blocks for building ship motion models;

The prediction module is used for predicting the ship control information of the ship at the next moment by using the Henry gas solubility prediction method according to the state information at the current moment in combination with the ship motion model;

The control module is used for controlling the movement of the ship according to the ship control information.

The contents of the method embodiments of the present invention are all applicable to the system embodiments, and the specific functions implemented by the system embodiments are the same as the above-mentioned method embodiments, and the beneficial effects achieved are also the same as those achieved by the above-mentioned methods.

An embodiment of the present invention provides a ship control system based on Henry's gas solubility, including:

at least one memory for storing programs;

At least one processor for loading the program to execute the Henry's gas solubility-based ship control method as shown in FIG. 1 .

The contents of the method embodiments of the present invention are all applicable to the system embodiments, and the specific functions implemented by the system embodiments are the same as the above-mentioned method embodiments, and the beneficial effects achieved are also the same as those achieved by the above-mentioned methods.

An embodiment of the present invention provides a storage medium, in which a processor-executable program is stored, and when executed by the processor, the processor-executable program is used to execute the Henry gas solubility-based ship control shown in FIG. 1 . method.

The embodiment of the present invention also discloses a computer program product or computer program, where the computer program product or computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device may read the computer instructions from the storage medium, and the processor executes the computer instructions, so that the computer device executes the method for controlling a ship based on Henry gas solubility shown in FIG. 1 .

The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned embodiments, and within the scope of knowledge possessed by those of ordinary skill in the art, various Variety. Furthermore, the embodiments of the present invention and features in the embodiments may be combined with each other without conflict.

Claims (9)

1. a ship control method based on Henry gas solubility, is characterized in that, comprises the following steps: Get the status information of the ship at the current moment; Build a ship motion model; According to the state information at the current moment in combination with the ship motion model, the Henry gas solubility prediction method is used to predict the ship control information of the ship at the next moment; control the movement of the vessel according to the vessel control information; Wherein, when performing the step of predicting the ship control information of the ship at the next moment by using the Henry gas solubility prediction method in combination with the ship motion model according to the state information at the current moment, the following steps are also included: Set the fitness function, the fitness function formula is as follows:

Among them, q is the weight factor; Q is the total weight factor; N _p is the number of prediction steps; f _best (j) is the single fitness function value;

R _REF = [R _ref (j), R _ref (j+1),..., R _ref (j+N _p )] ^T ; S _STATE = [S _state (j), S _state (j+1),... , S _state (j+N _p )]; S _state (j)=[ηv]; R _ref is the reference trajectory. 2. a kind of ship control method based on Henry gas solubility according to claim 1, is characterized in that, described obtaining the state information of the current moment of the ship, comprising: Obtain the hardware data of the ship at the current moment, the hardware data includes the ship's rudder angle, the ship's propeller speed, GPS position information, the ship's heading angle, and the ship's heading angle; The state information of the ship at the current moment is analyzed according to the hardware data. 3. a kind of ship control method based on Henry gas solubility according to claim 1, is characterized in that, described building ship motion model, it is specially: A three-degree-of-freedom ship motion model is constructed according to the motion characteristic information of the ship. 4. a kind of ship control method based on Henry gas solubility according to claim 1, is characterized in that, described Henry gas solubility prediction mode, comprises the following steps: initialize Henry gas parameters, the Henry gas parameters include Henry coefficient, partial pressure and gas type; Evaluate and rank several gas clusters to identify those that meet preset requirements; Update Henry gas parameters according to the gas meeting the preset requirements; Jump out of the local optimum of gas clusters; Update the worst gas position; Determine location information for gases that meet preset requirements. 5. a kind of ship control method based on Henry's gas solubility according to claim 4, is characterized in that, described to several gas clusters are evaluated and sorted, determine the gas that meets preset requirements, comprising: Evaluation of several gas clusters to determine the best gas in the highest equilibrium state for each gas type; The optimal gas is sorted, and the optimal gas of the group corresponding to the plurality of gas clusters is determined. 6 . The method for ship control based on Henry gas solubility according to claim 4 , wherein the position information of the gas that meets the preset requirements is the ship control information. 7 . 7. a ship control system based on Henry gas solubility, is characterized in that, comprises: The acquisition module is used to acquire the status information of the ship at the current moment; Building blocks for building ship motion models; The prediction module is used for predicting the ship control information of the ship at the next moment by using the Henry gas solubility prediction method according to the state information at the current moment in combination with the ship motion model; a control module for controlling the movement of the ship according to the ship control information; Wherein, when performing the step of predicting the ship control information of the ship at the next moment by using the Henry gas solubility prediction method in combination with the ship motion model according to the state information at the current moment, the following steps are also included: Set the fitness function, the fitness function formula is as follows:

Among them, q is the weight factor; Q is the total weight factor; N _p is the number of prediction steps; f _best (j) is the single fitness function value;

R _REF = [R _ref (j), R _ref (j+1),..., R _ref (j+N _p )] ^T ; S _STATE = [S _state (j), S _state (j+1),... , S _state (j+N _p )]; S _state (j)=[ηv]; R _ref is the reference trajectory. 8. A ship control system based on Henry's gas solubility, characterized in that, comprising: at least one memory for storing programs; At least one processor for loading the program to execute the Henry gas solubility based ship control method according to any one of claims 1-6. 9. A storage medium, wherein a program executable by a processor is stored, wherein the program executable by the processor is used to execute the program according to any one of claims 1-6 when executed by the processor A ship control method based on Henry's gas solubility.

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