Article(id=1254362825133065019, tenantId=1146029695717560320, journalId=1254119036117037056, issueId=1254362823425974931, articleNumber=null, orderNo=null, doi=10.13788/j.cnki.cbgc.2026.03.Z2, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=null, receivedDateStr=null, revisedDate=null, revisedDateStr=null, acceptedDate=null, acceptedDateStr=null, onlineDate=1776993002445, onlineDateStr=2026-04-24, pubDate=1774368000000, pubDateStr=2026-03-25, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1776993002445, onlineIssueDateStr=2026-04-24, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1776993002445, creator=13701087609, updateTime=1776993002445, updator=13701087609, issue=Issue{id=1254362823425974931, tenantId=1146029695717560320, journalId=1254119036117037056, year='2026', volume='48', issue='3', pageStart='1', pageEnd='190', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=1, specialIssue=null, createTime=1776993002036, creator=13701087609, updateTime=1776993258606, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1254363899764077151, tenantId=1146029695717560320, journalId=1254119036117037056, issueId=1254362823425974931, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1254363899764077152, tenantId=1146029695717560320, journalId=1254119036117037056, issueId=1254362823425974931, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=Z29, endPage=Z38, ext={EN=ArticleExt(id=1254362828580782920, articleId=1254362825133065019, tenantId=1146029695717560320, journalId=1254119036117037056, language=EN, title=Research on Adaptive Control for Automatic Ship Berthing Based on Physics-Informed Neural Networks, columnId=1254362824956895894, journalTitle=Ship Engineering, columnName=Special Topic: Intelligent Ship, runingTitle=null, highlight=null, articleAbstract=
[Purpose] Existing autonomous berthing technologies rely on precise mathematical ship models and mostly employ empirical formulas for modeling. However, in actual berthing scenarios, influenced by environmental factors and speed, these methods cannot accurately reflect the current ship maneuvering status in real-time, leading to limited berthing control accuracy. To address the aforementioned problems,
[Method] a ship autonomous berthing control method based on physics- informed neural networks (PINN) is proposed. The method constructs a real-time dataset using a sliding window and identifies ship maneuvering parameters in real-time through the physics-informed neural network. An adaptive controller based on gain scheduling is designed to dynamically adjust control gains using the identified parameters, realizing precise ship berthing.
[Result] Experimental results demonstrate that the PINN network can converge rapidly under dynamic conditions and accurately identify ship parameters, with a goodness of fit reaching 0.97. In berthing experiments, the method ensured that the terminal heading deviation and lateral error converged to a minimal range, achieving smooth and safe docking, with a heading error of 0.13°.
[Conclusion] The method effectively resolves the failure of traditional control algorithms caused by model mismatch under unknown ship parameters and complex working conditions, offering a safe and interpretable adaptive berthing control solution.
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［目的］ 现有的自主靠泊技术依赖于精确的数学船舶模型，且多采用经验公式进行建模，然而在实际的靠泊场景中，受到环境、速度等影响，这些方法无法实时精确地反映当前的船舶操纵状态，导致靠泊控制精度受限。为解决上述问题，
［方法］ 提出一种基于物理信息神经网络（PINN）的船舶自主靠泊控制方法，该方法通过构建基于滑动窗口的实时数据集，通过物理神经网络实时辨识船舶操纵参数，设计基于增益调度的自适应控制器，利用辨识出的参数动态调整控制增益，实现船舶的精确靠泊。
［结果］ 试验结果显示，PINN网络能够在动态工况下迅速收敛，准确辨识船舶参数，拟合优度达到0.97，在靠泊试验中，确保终端航向角偏差与横向误差收敛至极小范围，实现平滑、安全的停靠，航向误差为0.13°。
［结论］ 该方法有效解决在船舶参数未知、复杂工况下，传统控制算法因模型失配而失效的问题，提供一种安全、可解释的自适应靠泊控制。
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本刊已许可中国学术期刊（光盘版）电子杂志社在中国知网及其系列数据库产品中以数字化方式复制、汇编、发行、信息网络传播本刊全文，本刊著作权使用费与本刊稿酬一并支付；本刊所刊登文章均无知识产权争议，不涉及泄露国家秘密、技术秘密或商业秘密。作者向本刊提交文章发表的行为即视为同意我编辑部上述声明，文责自负。, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=mBxZhZ73oTfLZ/B22NkekQ==, magXml=2YxaeDSR4bbqB7LumC+Bog==, pdfUrl=null, pdf=6oMj9Mk6X6QZaX6yK8KMwg==, pdfFileSize=5796387, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=/r6G434hhsB+mOCtDE1u1g==, mapNumber=null, authorCompany=null, fund=null, authors=null, authorsList=张圣超, 高俊杰, 殷非, 刘志刚, 李玩幽)}, authors=[Author(id=1254362834503140260, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362825133065019, orderNo=0, firstName=null, middleName=null, lastName=null, nameCn=null, orcid=null, stid=null, country=null, authorPic=null, dead=0, email=null, emailSecond=null, emailThird=null, correspondingAuthor=0, authorType=1, ext={EN=AuthorExt(id=1254362836633846701, tenantId=1146029695717560320, journalId=1254119036117037056, articleId=1254362825133065019, authorId=1254362834503140260, language=EN, stringName=Shengchao ZHANG, firstName=Shengchao, middleName=null, lastName=ZHANG, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=
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1．哈尔滨工程大学动力与能源工程学院，哈尔滨 150001
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