Ship longitudinal queue hybrid predictive control method based on hybrid logic dynamic model

The invention discloses a hybrid logic dynamic model-based ship longitudinal queue hybrid prediction control method, which comprises the following steps of: analyzing the relationship between ship longitudinal resultant force and navigational speed in the navigation process of all ships, and establishing an unmanned ship longitudinal dynamic model to obtain a relationship model between ship speed and propeller rotating speed; establishing a propeller rotating speed control model to obtain a relation model among the propeller rotating speed, a diesel engine starting device, a braking device and an accelerator; establishing a following distance model according to a variable time interval strategy to obtain a continuous/discrete relation model between following errors and a diesel engine starting device, a braking device and an accelerator, and converting the continuous/discrete relation model into a hybrid logic dynamic model; a distributed queuing strategy is adopted, a hybrid logic dynamic model is used as a