JP2005096771A - Heading control device for ship - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a heading control device for a ship capable of keeping the position of the ship by utilizing the external force only by inputting coordinates for position keeping by a person with less experience or knowledge even when the ship is not equipped with a propulsion unit to move a bow. <P>SOLUTION: The lateral force and the moment on a ship are obtained by a pelorus 3 to measure the heading of the ship, a weathercock 5to measure the wind velocity and the wind direction, a tidal current meter 6 to measure the tidal speed and the tidal direction, the wind velocity and the wind direction measured by the weathercock 5, the tidal speed and the tidal direction measured by the tidal current meter 6, and the heading of the ship measured by the pelorus 3, and the lateral force generated when controlling the heading under the wind and the tidal current by the moment is obtained. A position keeping target heading operation means 13 is provided, which obtains the target heading at which the lateral force on the ship is canceled by the lateral force generated when controlling the heading under the wind and the tidal current. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a ship heading control facility for holding a ship at a fixed position by using an external force (wind or tidal current).

  Conventionally, when holding the ship position, a person with experience and knowledge guessed the amount of ship flow from the wind direction, wind speed, tidal current direction, tidal velocity, etc., and operated the rudder, propeller, bow thruster to move laterally I was letting. Or the heading which is easy to hold the position was determined.

  However, if the ship is not equipped with a propulsion device that moves the bow, such as the bow thruster, there is a problem that it is difficult for a person with experience and knowledge to perform lateral movement or position maintenance.

  Therefore, the present invention can maintain the position of a ship by using external force even if the ship is not equipped with a propulsion device that moves the bow, and a person who has no experience or knowledge inputs the coordinates that the position is to be maintained. The purpose of the present invention is to provide a ship heading control facility that makes it possible to perform the above.

  In order to achieve the above-described object, a ship heading control facility according to the present invention includes a heading 3 for measuring the heading of a ship, a wind nose 5 for measuring wind speed and direction, a tidal velocity and a current direction. The tidal current meter 6 for measuring the wind speed and the wind direction measured by the wind nose 5, the tidal velocity and the current direction measured by the tidal current meter 6, and the heading of the ship measured by the direction meter 3. The lateral force and moment that the ship receives are calculated, the lateral force that is generated when controlling the direction under the wind and tidal current from the moment, and the side force that the ship receives and when the direction is controlled under the wind and tidal current. And a target azimuth calculating means 13 for obtaining the target azimuth of the bow that cancels out the lateral force to be generated. By simply inputting the target position, the ship is brought to the target position against the external force. Target direction of the ship to be lifting is required.

  According to the above configuration, even a ship that is not equipped with a propulsion device that moves the bow, such as a bow thruster, can be used to maintain the position of the ship in accordance with external forces simply by inputting the target direction even if the person has very little experience or knowledge. The ship can be maneuvered.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a configuration diagram of a ship heading control facility according to an embodiment of the present invention.
A control device (hereinafter abbreviated as a controller) 1 for a heading control facility of a ship A (see FIG. 4) is a setting signal {target position (Xt, Yt)} consisting of a target position of the ship from a setting device 2, and a direction meter 3 From the current position signal (direction p) of the ship, the current position signal of the ship {current position (Xs, Ys)} from the position sensor 4 made of GPS, and the wind composed of the current wind speed and direction from the wind nose (wind direction anemometer) 5 Signal, and a tidal signal consisting of the current tidal velocity and tidal direction from the tidal meter 6 and controlling the steering angle of the starboard and port rudder 9, 10 to control the direction of the ship A, It is a control device for moving to a target position or holding a position at the target position, and is composed of a microcomputer. As shown in FIG. 4, the ship A uses the rudder 9 and 10 to move to the target position of the ship or to maintain the position because the ship A flows when it receives external force of wind and tidal current. The controller 1, the setting device 2, the compass 3, the position sensor 4, the wind nose 5, and the tide meter 6 are installed in the ship A.

  As shown in FIG. 1, the controller 1 determines whether the current position (Xs, Ys) of the ship A is within a predetermined range of the target position (Xt, Yt). When the position is determined to be within the range, the determination unit 11 outputs a position holding command signal, the movement control target direction calculation unit 12 calculates the target direction ψ during movement control according to the movement control command signal, and the position The position holding target azimuth calculating unit 13 according to the present invention for calculating the target azimuth ψ at the time of position holding according to the holding command signal, and the azimuth so as to be the target azimuth ψ obtained by the calculation units 12 and 13 The operation control unit 14 operates the rudder 9 and 10 while feeding back the heading p detected by the total 3.

The operation control unit 14 includes a subtractor 15 for obtaining a deviation between the target bearing ψ and the measured heading p, and a PID control unit 16 for calculating a steering angle based on the deviation obtained by the subtracter 15.
The movement control target direction calculation unit 12 will be described with reference to the block diagram of FIG.

When the movement control command signal is input as described above, the calculation unit 12 is executed in the control cycle Cy and updates the target direction ψ (n) in a direction in which the external force can be used.
In FIG. 2, the Y deviation Y speed calculation unit obtains information on the lateral flow of the ship A shown in FIG. 4 from the current position (Xs, Ys) and the target position (Xt, Yt) of the ship A, that is, Y deviation ΔY and Y speed V. an arithmetic unit for obtaining the, angle Y _CR changing the bow, said calculated by equation (1) from the obtained ΔY and V by Y deviation Y speed calculator, to further avoid sudden change of angle, ± 5 The limiter of ゜ is applied and it is required.

Y _CR = ΔY × A _C + V × B _C (1)
(A _C and B _C are constants)
The seeking whether execution conditions is updated by adding the angle Y _CR to change the obtained bow to the target azimuth ψ (n). These execution conditions are shown below.

1. Whether the difference (absolute value) between the target heading ψ (n) and the measured heading p is 30 ° or more.
2. Whether the Y deviation ΔY is increasing (whether the Y deviation ΔY is larger than the previous Y deviation ΔY).

  3. The time tc is set so that the time T from the previous update of the target orientation ψ (n) has elapsed during the time tc determined by the equation (2), that is, the time tc becomes longer as the target position (Xt, Yt) is approached. Whether this time tc has passed.

tc = Kc / absolute value ΔY (2)
(Kc is a constant)
These conditions are conditions that exclude the possibility that the update of the target direction ψ (n) becomes a disturbance, and when all these conditions are met (AND), execution of the update is permitted.

The formula for updating the target orientation ψ (n) is shown below.
ψ (n) = ψ (n−1) + Y _CR
The obtained target orientation ψ (n) is output to the operation control unit 14.

The position holding target direction calculating unit 13 will be described with reference to the block diagram of FIG.
When the position holding command signal is input as described above, the calculation unit 13 is executed in the control cycle Cy and updates the target direction ψ in a direction in which an external force can be used.

In the wind power calculation unit, the lateral force Wy and the moment Wm received by the hull by the wind force coefficient obtained from the experiment from the wind speed and wind direction measured by the wind belief 5 and the heading p of the ship A measured by the bearing meter 3 are obtained. Lateral force received by the hull from the tidal coefficient obtained by experiment from the tidal velocity and tidal current measured by the tidal meter 6 and the heading p of the ship A measured by the bearing meter 3 in the tidal current calculation unit. Sy and the moment Sm is calculated, the lateral force Sy of the lateral force Wy and trends of air which is calculated above are added together, seeking lateral force Y _E due to an external force shown in FIG. Also, the wind moment Wm and the tidal moment Sm calculated above are added, and this added value is divided by the distance L _PRX to the center of gravity G of the ship A and the rudder shaft shown in FIG. in seeking lateral force Y _CT generated when controlling the orientation.

Then, the target azimuth ψ in which the obtained lateral force Y _E and lateral force Y _CT are canceled, that is, Y _E + Y _CT = 0
The azimuth | direction psi which satisfy | fills is calculated.

The obtained target orientation ψ is output to the operation control unit 14.
Hereinafter, the operation of the above configuration will be described.
When the target position (Xt, Yt) is input by the setting device 2, it is determined whether or not the current position (Xs, Ys) is within a predetermined range of the target position (Xt, Yt). , The movement control target azimuth calculation unit 12 is selectively driven to obtain the bow azimuth {target azimuth ψ (n)} for moving the ship A that is flowing laterally by the external force to the target position (Xt, Yt), When it is determined that the position is within the range, the position holding target direction calculation unit 13 according to the present invention is selectively driven, and the bow direction {target that holds the ship A at the current position (Xs, Ys) even when there is an external force. The direction ψ} is obtained, and the rudder angle is obtained by the operation control unit 14 based on the obtained heading, and the rudders 9 and 10 are operated.

  The simulation result by the said effect | action is shown in FIG. 5 and FIG. In FIG. 5, the tide was moved from 50 m to the center target position under the conditions of a tidal velocity of 1.0 kt, a tidal current direction (angle) of 0.0 °, a wind speed of 10.0 m / s, and a wind direction (angle) of 45.0 °. FIG. 6 shows a position within 20 m of the target position under the conditions of a tidal velocity of 1.0 kt, a tidal current direction (angle) of 180.0 °, a wind speed of 10.0 m / s, and a wind direction (angle) of 135.0 °. It is a simulation result when holding. As can be seen from these simulation results, it was possible to cope with external forces by manipulating the steering angle.

  In this way, even if a person with very little experience and knowledge only inputs the target position, conventionally, the ship moves or maintains its position according to the external force engaged by one or more experienced and knowledgeable operators. In addition, even when there is no bow raster, it is possible to move to the target position and hold the position.

It is a block diagram of the movement control equipment of the ship in embodiment of this invention. It is a block diagram of the movement control target direction calculation part of the control apparatus of the movement control equipment of the ship. It is a block diagram of a position maintenance target direction calculation part of a control device of the movement control equipment of the ship. It is explanatory drawing of the movement control equipment of the ship. It is a figure which shows the result of the simulation by the movement control equipment of the ship. It is a figure which shows the result of the simulation by the movement control equipment of the ship.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Control apparatus 2 Setting device 3 Direction meter 4 Position sensor 5 Wind nose 6 Current meter 9, 10 Rudder
11 Judgment part
12 Movement control target direction calculator
13 Position holding target direction calculator
14 Operation control unit A Vessel (Xs, Ys) Vessel current position (Xt, Yt) Target position Y _E Side force caused by wind and tidal current Y Side force generated when controlling direction under _CT wind and tidal current p Bow heading ψ Target Direction

Claims (1)

A compass 3 that measures the heading of the ship,
Wind nose 5 for measuring wind speed and direction,
Tidal current meter 6 for measuring the tidal velocity and direction,
The lateral force and moment received by the ship are obtained from the wind speed and direction measured by the wind god 5, the tidal velocity and direction measured by the tide meter 6, and the heading of the ship measured by the azimuth meter 3. At the same time, the lateral force generated when the heading is controlled under the wind and tidal current is obtained from the moment, and the lateral force received by these ships is offset with the lateral force generated when the heading is controlled under the wind and tidal current. Target azimuth calculating means 13 for obtaining the target azimuth of the bow;
A ship heading control facility characterized by comprising:

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