МОДЕЛЮВАННЯ ПОВЕДІНКИ ТА ІМІТАЦІЯ НАДЗВИЧАЙНИХ СИТУАЦІЙ ДЛЯ АВТОНОМНОГО СУДНА З ОЦІНКОЮ СТАБІЛЬНОСТІ ТРАЄКТОРІЇ РУХУ
https://doi.org/10.33815/2313-4763.2025.1.30.195-208
Ключові слова:
автономне судно, аварійна ситуація, симуляція, курсова стабілізація, втрати керування, морське середовище, процес керування, математичне моделювання, гідродинаміка, стохастичні збурення
Анотація
У статті досліджено поведінку морського автономного судна (МАС) в умовах виникнення надзвичайних ситуацій, пов’язаних із втратою керування, впливом поривчастого вітру та відмовою рульового приводу. Доведено, що дослідження аварійної поведінки морських автономних суден набуває практичного значення та підіймає проблеми безпечного застосування й енергоефективності навігаційного переходу в автономному режимі. Застосовано спрощену математичну модель динаміки руху судна в горизонтальній площині на основі рівнянь Ньютона-Ейлера з урахуванням простих рішень в умовах дії гідродинамічних, аеродинамічних та стохастичних впливів. Показано, що існує дефіцит моделей, здатних не лише відтворювати поведінку автономних суден при блокуванні рульового приводу, зникненні керуючих сигналів чи дії неочікуваних збурень, а і прогнозувати наслідки. Імітація проведена у MATLAB/Simulink із реалізацією основних аварійних сценаріїв. Результати симуляцій дозволили оцінити стабільність траєкторії руху судна та ефективність наявних стратегій керування судном. Отримані дані є основою для подальшого створення алгоритмів автоматичного аварійного реагування на позаштатні ситуації під час виконання автономних навігаційних місій.
Посилання
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12. Melnyk, O. M., Onishchenko, O. A., Voloshyn, A. O., Vasalatii, N. V., Loginov, O. V., & Koriakin, K. S. (2022). Rozvytok dystantsiinykh tekhnolohii keruvannia sudnom yak faktor zabezpechennia bezpeky sudnoplavstva [Development of remote ship control technologies as a factor in ensuring navigation safety]. Rozvytok transportu, 3(14), 179–191. https://doi.org/10.33082/td.2022.3-14.13.
13. Melnyk, O. M., Naleva, H. V., Obniavko, T. S., & Onishchenko, O. A. (2022). Osoblyvosti matematychnykh modelei sudnovykh elektropryvodiv, pobudovanykh na osnovi bezshchitkovykh dvyhuniv postiinoho strumu [Features of mathematical models of ship electric drives based on brushless DC motors]. Sudnovi enerhetychni ustanovky, (45), 155–168. https://doi.org/10.31653/smf45.2022.
14. Melnyk, O. M., Kalinichenko, Y. V., Burlachenko, D. A., Nykhytiuk, P. V., & Kolesnyk, O. V. (2023). Zabezpechennia bezpeky sudnovodinnia shliakhom rozroblennia stratehii poperedzhennia zitknennia na bazi «modeli vidkrytoho moria» [Ensuring navigation safety by developing collision avoidance strategies based on the "open sea model"]. Vodnyi transport, 1(37), 71–79. https://doi.org/10.33298/2226-8553.2023.1.37.07.
15. Onishchenko, O. A., Melnyk, O. M., Kurdiuk, S. V., Drozdenko, O. I., Havryliuk, T. K., & Burlachenko, D. A. (2024). Zastosuvannia metodiv mashynnoho navchannia dlia optymizatsii marshrutiv i zavdan avtonomnykh nadvodnykh aparativ [Application of machine learning methods for optimizing routes and tasks of autonomous surface vehicles]. Nauka i tekhnika, 12(40), 1372–1386. https://doi.org/10.52058/2786-6025-2024-12(40)-1372-1386.
16. Kurdiuk, S., Dremlyuk, V., Melnyk, O., Onishchenko, O., Halagan, S., & Havryliuk, T. (2024). Prohramne zabezpechennia dlia nadiinoi peredachi danykh dlia morskykh bezpilotnykh plavalnykh aparativ [Software for reliable data transmission for marine unmanned aerial vehicles]. Sudnovodinnia, (36), 86–101. https://doi.org/10.31653/2306-5761.36.2024.86-101.
17. Melnyk, O., Onishchenko, O., Kurdiuk, S., Drozdenko, O., Havryliuk, T., & Burlachenko, D. (2024). Suchasni metody protydii bezpilotnym systemam: Tekhnolohii ta perspektyvy [Modern methods of countering unmanned systems: Technologies and prospects]. Sudnovodinnia, (36), 102–115. https://doi.org/10.31653/2306-5761.36.2024.102-115.
18. Burlachenko, D. A., & Melnyk, O. M. (2025). Modeliuvannia dynamiky rukhu morskoho avtonomnoho sudna z adaptyvnoiu kursovoiu stabilizatsiieiu v umovakh stokhastychnykh zburhen seredovyshcha [Modeling the dynamics of a maritime autonomous vessel with adaptive course stabilization under stochastic environmental disturbances]. Visnyk Natsionalnoho universytetu vodnoho hospodarstva ta pryrodokorystuvannia, 1(109).
19. Volkov, O., Petrychenko, O., & Vlasenko, Y. (2023). Danger of using autonomous ships. Sudnovodinnia, (34). https://navjournal-nuoma.learnmarine.com/wp-content/uploads/ 2023/05/34-2023_O.-Volkov-O.-Petrychenko-Y.-Vlasenko-Danger-of-us%D1%96ng-autonomous-ships.pdf.
20. Roh, H., Jeong, D., Park, S., & Kim, M. J. (2024). Qualitative Risk Assessment Methodology for Maritime Autonomous Surface Ships: Cognitive Model-Based Functional Analysis and Hazard Identification. Journal of Marine Science and Engineering, 13(5), 970. https://www.mdpi.com/2077-1312/13/5/970.
21. Mihailidis, A., & Nikitakos, N. (2023). Analysis of Risks Arising from the Use of Autonomous Vessels. Journal of Maritime & Transportation Science, 63(1), 63–74. https://www.researchgate.net/publication/377683241_Analysis_of_Risks_Arising_from_the_Use_of_Autonomous_Vessels.
22. Tsolakis, T., Georgakarakos, V., Theodoulidis, C., & Loukas, D. (2025). A risk assessment of an autonomous navigation system for a maritime autonomous surface ship. International Journal of Navigation and Port Research.
https://doi.org/10.1080/20464177.2025.2460268.
23. Poplavska, I., & Tkachenko, O. (2025). Collision Avoidance for Maritime Autonomous Surface Ships Based on Model Predictive Control Using Intention Data and Quaternion Ship Domain. Journal of Marine Science and Engineering, 13(1), 124. https://www.mdpi.com/2077-1312/13/1/124.
24. Wróbel, M. (2024). A human-centred review on maritime autonomous surfaces ships: impacts, responses, and future directions. Ergonomics.
https://doi.org/10.1080/01441647.2024.2325453.
25. Ryan, P., Horberry, T., & Fleming, B. (2022). Maritime autonomous surface ships: can we learn from unmanned aerial vehicle incidents using the perceptual cycle model? Ergonomics, 65(12), 1779–1798. https://doi.org/10.1080/00140139.2022.2126896.
26. Rhee, J. (2023). Attacks on Commercial Maritime Autonomous Surface Ships at Sea in. The International Journal of Marine and Coastal Law, 38(2), 266–291. https://brill.com/view/journals/apoc/8/2/article-p266_005.xml.
27. Veremchuk, V. S. (2023). Mizhnarodno-pravovi aspekty ekspluatatsii avtonomnoho morskoho sudna: postanovka pytannia [International legal aspects of autonomous marine vessel operation: Problem statement]. Pravova derzhava, (50), 280272. https://doi.org/10.18524/2411-2054.2023.50.280272.
28. Issa, M., Ali, A., Hussein, M., Abdelhady, S., & Eltawil, Y. (2022). Maritime Autonomous Surface Ships: Problems and Challenges Facing the Regulatory Process. Sustainability, 14(23), 15630. https://www.mdpi.com/2071-1050/14/23/15630.
29. Luchenko, Y. (2023). Challenges and Developments in the Public Administration of Autonomous Shipping. Lex Portus, (1), 9–12. https://lexportus.net.ua/vipusk-1-2023/luchenko_912.pdf.
2. Hadi, B., Khosravi, A., & Sarhadi, P. (2024). Cooperative motion planning and control of a group of autonomous underwater vehicles using twin-delayed deep deterministic policy gradient. Applied Ocean Research, 147, 103977. https://doi.org/10.1016/j.apor.2024.103977.
3. Zhang, Y., Zhao, H., Wang, J., & Wang, H. (2024). Optimal path planning for autonomous berthing of unmanned ships in complex port environments. Ocean Engineering, 303, 117641. https://doi.org/10.1016/j.oceaneng.2024.117641.
4. Deng, Y., Zhang, X., Im, N., Zhang, G., & Zhang, Q. (2020). Adaptive fuzzy tracking control for underactuated surface vessels with unmodeled dynamics and input saturation. ISA Transactions, 103, 52–62. https://doi.org/10.1016/j.isatra.2020.04.010.
5. Hassani, V., Sørensen, A. J., & Pascoal, A. M. (2012). Adaptive Wave Filtering for Dynamic Positioning of Marine Vessels using Maximum Likelihood Identification: Theory and Experiments. IFAC Proceedings Volumes, 46(33), 203–208. https://doi.org/10.3182/20130918-4-JP-3022.00041.
6. Elhaki, O., Shojaei, K., & Mehrmohammadi, P. (2022). Reinforcement learning-based saturated adaptive robust neural-network control of underactuated autonomous underwater vehicles. Expert Systems With Applications, 197, 116714. https://doi.org/10.1016/j.eswa.2022.116714.
7. Er, M. J., Ma, C., Liu, T., & Gong, H. (2023). Intelligent motion control of unmanned surface vehicles: A critical review. Ocean Engineering, 280, 114562. https://doi.org/10.1016/j.oceaneng.2023.114562.
8. Larrazabal, J. M., & Peñas, M. S. (2016). Intelligent rudder control of an unmanned surface vessel. Expert 9. Kahveci, N. E., & Ioannou, P. A. (2013). Adaptive steering control for uncertain ship dynamics and stability analysis. Automatica, 49(3), 685–697. https://doi.org/10.1016/j.automatica.2012.11.026.
10. Melnyk, O. M., Shcherbyna, O. V., Koriakin, K. S., & Burlachenko, D. A. (2021). Ohliad ta perspektyvy vykorystannia suchasnykh system kursovkazannia na morskykh sudnakh dlia zabezpechennia navihatsiinoi bezpeky [Overview and prospects of using modern course-indicating systems on sea vessels to ensure navigation safety]. Naukovi visti Dalivskoho universytetu, (21). https://doi.org/10.33216/2222-3428-2021-21.
11. Melnyk, O. M., Koriakin, K. S., & Loginov, O. V. (2022). Suputnykovi kompasy u systemi zabezpechennia bezpeky navihatsii suden [Satellite compasses in the system of ensuring ship navigation safety]. Rozvytok transportu, 1(12), 54–63. https://doi.org/10.33082/td.2022.1-12.05.
12. Melnyk, O. M., Onishchenko, O. A., Voloshyn, A. O., Vasalatii, N. V., Loginov, O. V., & Koriakin, K. S. (2022). Rozvytok dystantsiinykh tekhnolohii keruvannia sudnom yak faktor zabezpechennia bezpeky sudnoplavstva [Development of remote ship control technologies as a factor in ensuring navigation safety]. Rozvytok transportu, 3(14), 179–191. https://doi.org/10.33082/td.2022.3-14.13.
13. Melnyk, O. M., Naleva, H. V., Obniavko, T. S., & Onishchenko, O. A. (2022). Osoblyvosti matematychnykh modelei sudnovykh elektropryvodiv, pobudovanykh na osnovi bezshchitkovykh dvyhuniv postiinoho strumu [Features of mathematical models of ship electric drives based on brushless DC motors]. Sudnovi enerhetychni ustanovky, (45), 155–168. https://doi.org/10.31653/smf45.2022.
14. Melnyk, O. M., Kalinichenko, Y. V., Burlachenko, D. A., Nykhytiuk, P. V., & Kolesnyk, O. V. (2023). Zabezpechennia bezpeky sudnovodinnia shliakhom rozroblennia stratehii poperedzhennia zitknennia na bazi «modeli vidkrytoho moria» [Ensuring navigation safety by developing collision avoidance strategies based on the "open sea model"]. Vodnyi transport, 1(37), 71–79. https://doi.org/10.33298/2226-8553.2023.1.37.07.
15. Onishchenko, O. A., Melnyk, O. M., Kurdiuk, S. V., Drozdenko, O. I., Havryliuk, T. K., & Burlachenko, D. A. (2024). Zastosuvannia metodiv mashynnoho navchannia dlia optymizatsii marshrutiv i zavdan avtonomnykh nadvodnykh aparativ [Application of machine learning methods for optimizing routes and tasks of autonomous surface vehicles]. Nauka i tekhnika, 12(40), 1372–1386. https://doi.org/10.52058/2786-6025-2024-12(40)-1372-1386.
16. Kurdiuk, S., Dremlyuk, V., Melnyk, O., Onishchenko, O., Halagan, S., & Havryliuk, T. (2024). Prohramne zabezpechennia dlia nadiinoi peredachi danykh dlia morskykh bezpilotnykh plavalnykh aparativ [Software for reliable data transmission for marine unmanned aerial vehicles]. Sudnovodinnia, (36), 86–101. https://doi.org/10.31653/2306-5761.36.2024.86-101.
17. Melnyk, O., Onishchenko, O., Kurdiuk, S., Drozdenko, O., Havryliuk, T., & Burlachenko, D. (2024). Suchasni metody protydii bezpilotnym systemam: Tekhnolohii ta perspektyvy [Modern methods of countering unmanned systems: Technologies and prospects]. Sudnovodinnia, (36), 102–115. https://doi.org/10.31653/2306-5761.36.2024.102-115.
18. Burlachenko, D. A., & Melnyk, O. M. (2025). Modeliuvannia dynamiky rukhu morskoho avtonomnoho sudna z adaptyvnoiu kursovoiu stabilizatsiieiu v umovakh stokhastychnykh zburhen seredovyshcha [Modeling the dynamics of a maritime autonomous vessel with adaptive course stabilization under stochastic environmental disturbances]. Visnyk Natsionalnoho universytetu vodnoho hospodarstva ta pryrodokorystuvannia, 1(109).
19. Volkov, O., Petrychenko, O., & Vlasenko, Y. (2023). Danger of using autonomous ships. Sudnovodinnia, (34). https://navjournal-nuoma.learnmarine.com/wp-content/uploads/ 2023/05/34-2023_O.-Volkov-O.-Petrychenko-Y.-Vlasenko-Danger-of-us%D1%96ng-autonomous-ships.pdf.
20. Roh, H., Jeong, D., Park, S., & Kim, M. J. (2024). Qualitative Risk Assessment Methodology for Maritime Autonomous Surface Ships: Cognitive Model-Based Functional Analysis and Hazard Identification. Journal of Marine Science and Engineering, 13(5), 970. https://www.mdpi.com/2077-1312/13/5/970.
21. Mihailidis, A., & Nikitakos, N. (2023). Analysis of Risks Arising from the Use of Autonomous Vessels. Journal of Maritime & Transportation Science, 63(1), 63–74. https://www.researchgate.net/publication/377683241_Analysis_of_Risks_Arising_from_the_Use_of_Autonomous_Vessels.
22. Tsolakis, T., Georgakarakos, V., Theodoulidis, C., & Loukas, D. (2025). A risk assessment of an autonomous navigation system for a maritime autonomous surface ship. International Journal of Navigation and Port Research.
https://doi.org/10.1080/20464177.2025.2460268.
23. Poplavska, I., & Tkachenko, O. (2025). Collision Avoidance for Maritime Autonomous Surface Ships Based on Model Predictive Control Using Intention Data and Quaternion Ship Domain. Journal of Marine Science and Engineering, 13(1), 124. https://www.mdpi.com/2077-1312/13/1/124.
24. Wróbel, M. (2024). A human-centred review on maritime autonomous surfaces ships: impacts, responses, and future directions. Ergonomics.
https://doi.org/10.1080/01441647.2024.2325453.
25. Ryan, P., Horberry, T., & Fleming, B. (2022). Maritime autonomous surface ships: can we learn from unmanned aerial vehicle incidents using the perceptual cycle model? Ergonomics, 65(12), 1779–1798. https://doi.org/10.1080/00140139.2022.2126896.
26. Rhee, J. (2023). Attacks on Commercial Maritime Autonomous Surface Ships at Sea in. The International Journal of Marine and Coastal Law, 38(2), 266–291. https://brill.com/view/journals/apoc/8/2/article-p266_005.xml.
27. Veremchuk, V. S. (2023). Mizhnarodno-pravovi aspekty ekspluatatsii avtonomnoho morskoho sudna: postanovka pytannia [International legal aspects of autonomous marine vessel operation: Problem statement]. Pravova derzhava, (50), 280272. https://doi.org/10.18524/2411-2054.2023.50.280272.
28. Issa, M., Ali, A., Hussein, M., Abdelhady, S., & Eltawil, Y. (2022). Maritime Autonomous Surface Ships: Problems and Challenges Facing the Regulatory Process. Sustainability, 14(23), 15630. https://www.mdpi.com/2071-1050/14/23/15630.
29. Luchenko, Y. (2023). Challenges and Developments in the Public Administration of Autonomous Shipping. Lex Portus, (1), 9–12. https://lexportus.net.ua/vipusk-1-2023/luchenko_912.pdf.
Опубліковано
2025-07-23
Розділ
ТРАНСПОРТНІ ТЕХНОЛОГІЇ
