FI20205463A - Method and water-jet propulsion system for keeping a vessel automatically in desired position points and direction - Google Patents

Method and water-jet propulsion system for keeping a vessel automatically in desired position points and direction

Info

Publication number
FI20205463A
FI20205463A FI20205463A FI20205463A FI20205463A FI 20205463 A FI20205463 A FI 20205463A FI 20205463 A FI20205463 A FI 20205463A FI 20205463 A FI20205463 A FI 20205463A FI 20205463 A FI20205463 A FI 20205463A
Authority
FI
Finland
Prior art keywords
vessel
control
water jet
desired position
keeping
Prior art date
Application number
FI20205463A
Other languages
Finnish (fi)
Swedish (sv)
Other versions
FI20205463A1 (en
FI129830B (en
Inventor
Sauli Virta
Heikki Yli-Korpela
Original Assignee
Alamarin Jet Oy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Alamarin Jet Oy filed Critical Alamarin Jet Oy
Priority to FI20205463A priority Critical patent/FI129830B/en
Priority to PCT/FI2021/050335 priority patent/WO2021224552A1/en
Publication of FI20205463A1 publication Critical patent/FI20205463A1/en
Publication of FI20205463A publication Critical patent/FI20205463A/en
Application granted granted Critical
Publication of FI129830B publication Critical patent/FI129830B/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H11/00—Marine propulsion by water jets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/40—Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H11/00—Marine propulsion by water jets
    • B63H11/02—Marine propulsion by water jets the propulsive medium being ambient water
    • B63H11/10—Marine propulsion by water jets the propulsive medium being ambient water having means for deflecting jet or influencing cross-section thereof
    • B63H11/107—Direction control of propulsive fluid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/46—Steering or dynamic anchoring by jets or by rudders carrying jets
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H11/00—Marine propulsion by water jets
    • B63H2011/008—Arrangements of two or more jet units

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Ocean & Marine Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Toys (AREA)

Abstract

Uppfinningen avser ett förfarande för att hålla ett fartyg (100) automatiskt på en bestämd position (p1) med hjälp av ett vattenjetsystem (10), där vattenjetsystemet (10) innefattar minst två styrsegment (16) samt en styrenhet (18) som kontrollerar styrsegmenten (16), enligt vilket förfarande fartyget (100) manövreras automatiskt i följande steg, där - önskad position (p1) jämförs med aktuell position (p2) för definiering av positionsavvikelse (∆p), - önskad riktning (z1) jämförs med aktuell riktning (z2) för definiering av riktningsavvikelse (∆z), - på grundval av positionsavvikelse (∆p) och riktningsavvikelse (∆z) bildas styrkommandon för styrsegmenten (16) för manövrering av fartyget (100) till önskad position (p1) och riktning (z1), - varje styrsegments (16) vattenjetanordnings (12) munstycke (20) och backskopa (22) styrs individuellt i förhållande till det andra styrsegmentet (16) för erhållande av en styrande tryckkraftvektor (F) och fartygets (100) manövrering utförs endast medelst den av vattenjetanordningarna (12) åstadkomna styrande tryckkraftvektorn (F). Uppfinningen avser även ett vattenjetsystem.The invention relates to a method for holding a vessel (100) automatically at a certain position (p1) by means of a water jet system (10), wherein the water jet system (10) comprises at least two control segments (16) and a control unit (18) which controls the control segments. (16), according to which method the vessel (100) is automatically operated in the following steps, where - the desired position (p1) is compared with the current position (p2) for defining position deviation (∆p), - the desired direction (z1) is compared with the current direction (z2) for defining directional deviation (∆z), - on the basis of position deviation (∆p) and directional deviation (∆z) control commands are formed for the control segments (16) for maneuvering the vessel (100) to the desired position (p1) and direction ( z1), - the nozzle (20) and back bucket (22) of each control segment (16) of each control segment (16) is controlled individually in relation to the second control segment (16) to obtain a controlling compressive force vector (F) and the operation of the vessel (100) is performed only mede Read the controlling compressive force vector (F) provided by the water jet devices (12). The invention also relates to a water jet system.

FI20205463A 2020-05-06 2020-05-06 Method and water-jet propulsion system for keeping a vessel automatically in desired position points and direction FI129830B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FI20205463A FI129830B (en) 2020-05-06 2020-05-06 Method and water-jet propulsion system for keeping a vessel automatically in desired position points and direction
PCT/FI2021/050335 WO2021224552A1 (en) 2020-05-06 2021-05-06 Method and water-jet propulsion system for dynamic positioning of a vessel

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FI20205463A FI129830B (en) 2020-05-06 2020-05-06 Method and water-jet propulsion system for keeping a vessel automatically in desired position points and direction

Publications (3)

Publication Number Publication Date
FI20205463A1 FI20205463A1 (en) 2021-11-07
FI20205463A true FI20205463A (en) 2021-11-07
FI129830B FI129830B (en) 2022-09-15

Family

ID=76601228

Family Applications (1)

Application Number Title Priority Date Filing Date
FI20205463A FI129830B (en) 2020-05-06 2020-05-06 Method and water-jet propulsion system for keeping a vessel automatically in desired position points and direction

Country Status (2)

Country Link
FI (1) FI129830B (en)
WO (1) WO2021224552A1 (en)

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050159052A1 (en) * 2000-11-09 2005-07-21 Borrett John R. Waterjet control systems
ES2467098T3 (en) * 2006-06-02 2014-06-11 Cwf Hamilton&Co Limited Improvements in relation to the control of sea vessels
JP2012025260A (en) * 2010-07-22 2012-02-09 Yamaha Motor Co Ltd Marine propulsion apparatus and ship equipped with the same

Also Published As

Publication number Publication date
FI20205463A1 (en) 2021-11-07
WO2021224552A1 (en) 2021-11-11
FI129830B (en) 2022-09-15

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