JP2009179087A - Thrust control method and device for turning type thruster vessel - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To automate position keeping and steering of a vessel having three or more of turning type thrusters. <P>SOLUTION: The thrust control method determines control inputs F<SB>X</SB>, F<SB>Y</SB>, F<SB>N</SB>requiring application to a vessel body from a deviation (S2) with a state amount of the vessel and an inner product of a feedback gain (S4) when control target of a vessel body is given (S1). Subsequently, thrust distribution of the respective turning type thrusters satisfying the control inputs F<SB>X</SB>, F<SB>Y</SB>, F<SB>N</SB>using an equation solving an inverse problem of a matrix formula indicating transmission of respective components T<SB>1, 2, ..., n</SB>in an x axis direction and a y axis direction of the thrust and control forces F<SB>X</SB>, F<SB>Y</SB>, F<SB>N</SB>regarding longitudinal force X, lateral force Y and turning round moment N given to the vessel body by these by the minimum right conversion based on the geometrical arrangement of the respective turning type thruster (S5) to perform vessel body motion (S6). The state amount feedback (S7) after the vessel body motion and vessel body motion response are successively made linear by an approximate least square method (S8), and the feedback gain is determined by a linear optimum regulator to perform renewal (S9). <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a thrust control method and apparatus for a swivel thruster ship used to enable automatic control of fixed point holding and steering of a ship of a type including three or more swivel thrusters.

  Ships that require high maneuverability, such as work vessels and floating bodies, may be of a type equipped with three or more swivel thrusters as thrust generating devices (actuators) in order to improve maneuverability.

  The movement of a ship of this type having three or more swivel thrusters of this type is determined by combining thrusts (thrust) generated by the swivel thrusters.

  Therefore, the type of ship having three or more swivel thrusters can be held at a fixed point against the surrounding tidal currents and winds, or can be moved back and forth, left and right, diagonally while maintaining the heading, In order to turn in the desired direction on the left and right, it is required to act on the hull in order to move the ship in the desired direction in the forward / backward, left / right and diagonal directions while maintaining the heading. And a forward and backward force (hereinafter referred to as a longitudinal force) and a lateral force (hereinafter referred to as a lateral force), and the ship is caused to act on the hull to turn in the desired turning speed in the left and right desired directions. Therefore, it is necessary to appropriately distribute the required turning moment to the thrust to be generated in each swivel thruster.

  Here, since the movement of the ship is a plane motion, the degrees of freedom are three degrees of freedom: front and rear, left and right, and rotation (turning). On the other hand, the degree of freedom on the thrust generator side is that in a ship of a type having three or more swivel thrusters because one swivel thruster has two degrees of freedom, thrust and swing angle. The number of degrees of freedom gained by all swirl thrusters is the number of swirl thrusters × 2, which is excessive compared to the degree of freedom of planar motion desired for the ship. Therefore, even if we try to derive a solution for optimal operation of each swivel thruster based on the longitudinal force, lateral force and turning moment required to act on the entire hull, the variable is more than the unknown. Since there are few, it is the present condition that an unknown solution cannot be defined to one. For this reason, even if a ship of the type having three or more swivel thrusters performs one desired motion, each swivel thruster for performing this one motion (output) Since there are a plurality of combinations of operations (inputs), that is, combinations of thrusts generated by the individual swivel thrusters, the control becomes a multi-input multi-output system.

  Therefore, conventionally, a thrust distribution method as described below has been proposed as a method for controlling each thrust generator in a ship having a plurality of thrust generators.

  That is, in the thrust distribution method described above, each thrust generator is provided with a plurality of thrust generators that generate a thrust corresponding to the operation amount in order to cause the traveling body to travel or hold a fixed point with a given target thrust. In the thrust distribution method that calculates the amount of operation to be given and distributes the thrust of the vehicle, the thrust generated by each thrust generator and the force related to the thrust of the vehicle based on the nonlinear characteristics of each thrust generator And a predetermined evaluation function relating to a state quantity and / or a generated thrust for each thrust generator for minimizing the thrust generated by the thrust generator as much as possible. And based on the balance relationship and the evaluation function, satisfying the balance relationship with the target thrust and satisfying a predetermined condition for the evaluation function An operation amount of a thrust generating apparatus respectively are to be computed. Furthermore, this method is also applicable to the case where the thrust generating device is a turning thruster (see, for example, Patent Document 1).

  By the way, there is feedback control by an optimum regulator as one of generally known feedback control.

  The optimal regulator is an evaluation function that takes into account the fluctuation range of the state quantity and the manipulated variable. Therefore, compared to other design methods such as the pole placement method, it is desirable to reduce the fluctuation range of the target control quantity. It is known as a design method that can directly reflect the above requirements.

  In order to obtain the control gain by this control system design method, the state equation of the controlled object is required, and linear approximation is required. In addition, when controlling a wide range of phenomena, it is necessary to devise such as switching the state equation to be controlled.

  On the other hand, the input / output characteristics of the controlled object are approximated by the successive approximation least square method, so that the sequential input / output characteristics can be modeled even if the characteristics of the controlled object change.

  The inventor of the present application (Japanese Patent Application No. 2007-021389) has a one-input one-output system for enabling operation with a joystick or the like as a thrust control method for a ship equipped with a plurality of thrust generators. In order to construct a control system, a method of obtaining thrust distribution of each actuator by minimum right conversion, specifically, a swivel thruster on both left and right sides on the hull fixed coordinates of a biaxial ship having a bow thruster and a swivel thruster Based on the geometrical arrangement of the bow thruster, the thrust of the bow thruster, the components in the x-axis direction and the y-axis direction of the thrust of the swivel thruster on the left and right sides, the longitudinal force that each thrust exerts on the hull, Determining the determinant indicating the transmission of force and turning moment, and requesting the biaxial ship with the bow thruster and the swivel thruster in the forward / backward, left / right, and diagonal directions while maintaining the heading A longitudinal force and a lateral force as three-way components of the force required to be applied to the hull in order to move in the desired direction at the desired moving speed, or to move in the desired direction to the left and right at the desired turning speed When a turning moment is given, based on the longitudinal force, lateral force, and turning moment that are required to act on the hull, an equation obtained by solving the inverse problem of the above determinant by minimum right transformation is used. A biaxial ship having a bow thruster and a swivel thruster that obtains each component in the x-axis direction and y-axis direction of the thrust to be generated by the bow thruster and the thrust thrust to be generated by the swivel thrusters on both the left and right sides. A thrust control method is proposed.

  According to the above thrust control method, the biaxial ship having the bow thruster and the swivel thruster is generally a multi-input multi-output system. It can be converted to a one-input one-output system of motion and deviation feedback for each axis.

JP 2004-42885 A

  However, the thrust distribution method for each thrust generator in a ship having a plurality of conventional thrust generators described in Patent Document 1 is a complicated arithmetic control for solving an optimal problem in order to derive a control law. Need to do. Therefore, when there is a deviation between the desired movement of the ship and the actual movement of the ship during the actual operation of the ship, it takes time to correct this deviation, so it can respond immediately to the situation at the site. There is a problem that it is difficult. Furthermore, it is difficult to respond immediately even if a failure occurs in some devices.

  Moreover, since the control of the thrust generator in a ship equipped with the plurality of thrust generators is a non-linear multi-input multi-output system, the above-described optimum regulator that requires a linear approximation of the state equation to be controlled is used as it is. The reality is that feedback control cannot be applied.

  Therefore, the present inventor has proposed a multi-input multi-output system proposed in the previous application in order to be able to maintain a fixed point and to automate steering of a ship of a type having three or more turning thrusters. Can be converted to a 1-input 1-output system by the right minimum conversion method, and if a multi-input multi-output system is converted to a 1-input 1-output system by this thrust control method, The present invention was made by finding that feedback control can be applied.

  Accordingly, an object of the present invention is to control thrust of a swivel thruster ship so that the fixed point holding and steering of a ship having three or more swivel thrusters can be automated by feedback control using an optimum regulator. It is an object to provide a method and apparatus.

  In order to solve the above-mentioned problems, the present invention corresponds to claim 1 and includes a ship having three or more swivel thrusters in the front-rear, left-right, and diagonal directions while maintaining a fixed point or holding the heading. Given a control target that is required to act on the hull in order to move in the desired direction of the ship at the desired speed of movement and to turn in the desired direction of rotation to the left and right at the desired turning speed, Based on the inner product of the deviation from the state quantity at the time and the feedback gain, the control inputs in the three-axis directions of the longitudinal force, lateral force, and turning force required to act on the hull to make the deviation zero are obtained. Next, based on the geometrical arrangement of each of the swivel thrusters on the hull fixed coordinates of a ship having three or more swivel thrusters, the x-axis direction and y Each component in the axial direction In each of the swivel thrusters to satisfy the control inputs in the three axial directions, using an equation obtained by solving the inverse problem of the determinant representing the transmission of the longitudinal force, lateral force, and turning force applied to the body by the minimum right transformation The thrust distribution of each component in the x-axis direction and the y-axis direction of the thrust to be generated is uniquely determined, and the hull motion is performed by controlling each turning thruster with the calculated thrust distribution. The state quantity of the ship that changes due to the hull motion is fed back to the state quantity for obtaining a deviation from the control target, and the motion response to the control input is linearized by the successive approximation least squares method. Feedback for calculating the feedback gain with the optimal regulator for the converted motion response and performing the inner product with the above deviation by the calculated feedback gain And thrust control method of a slewing type thruster ship so as to update the in.

  Further, in the above configuration, based on the geometrical arrangement of the swivel thrusters on the hull fixed coordinates of a ship having three or more swivel thrusters, the thrust in the x-axis direction and y A matrix that uses a transformation matrix that does not include terms related to the thrust of each swivel thruster in addition to the determinant that shows the transmission of longitudinal force, lateral force, and turning moment that each component in the axial direction gives to the hull A term related to the thrust of one required swirl thruster when the three axial control inputs of longitudinal force, lateral force, and turning moment required to be applied to the hull are given. Thrust to be generated in each of the remaining swirling thrusters excluding the required one swirling thruster, based on a formula obtained by solving the inverse problem of the determinant using the transformation matrix not including the above by minimum right transformation To determine a thrust distribution of each component in the x-axis and y-axis directions.

  Further, in accordance with claim 3, the hull has three or more turning thrusters and a control unit for obtaining a thrust distribution of each turning thruster, the control unit comprising: To hold a fixed point, move the head in the desired direction of front / rear, left / right, and diagonal directions at the desired moving speed, or turn the head in the desired direction of left / right at the desired turning speed. Given a control target that is required to be applied to the hull, the deviation from the current state quantity of the ship and the inner product of the feedback gain are applied to the hull to make the deviation zero. The control inputs in the three axial directions of the longitudinal force, lateral force, and turning moment required are calculated, and the geometry of each swivel thruster on the hull fixed coordinates of a ship having three or more swivel thrusters Arrangement Based on the above, the inverse problem of the determinant that shows the transmission of the longitudinal force, lateral force, and turning moment that the components of the thrust of each turning thruster in the x-axis direction and y-axis direction gives to the hull is solved by the minimum right transformation. Is used to uniquely determine the thrust distribution of each component in the x-axis direction and y-axis direction of the thrust to be generated by each of the swivel thrusters to satisfy the control inputs in the three-axis directions. Each of the swivel thrusters can be controlled with the given thrust distribution, and the state quantity of the ship that changes with the hull motion generated when each of the swivel thrusters is controlled with the thrust distribution is Feedback is made to a state quantity for obtaining a deviation from the control target, and the motion response to the control input is linearized by the successive approximation least square method, and the linearized motion response is optimally regulated. A thrust control device for a swivel thruster ship having a configuration that has a function of calculating a feedback gain using a data and updating a feedback gain for performing an inner product with the deviation based on the calculated feedback gain; To do.

According to the present invention, the following excellent effects are exhibited.
(1) A ship having three or more swivel thrusters is moved at a desired moving speed in the desired direction of front / rear, left / right, and diagonal directions while maintaining the fixed point or the heading, and further, Given a control target that is required to act on the hull to turn in the desired direction at the desired turning speed, the deviation from the current state quantity of the ship and the inner product of the feedback gain The control inputs in the three axial directions of the longitudinal force, lateral force, and turning moment that are required to be applied to the hull in order to make the deviation zero are obtained, and then, for a ship having three or more turning thrusters Based on the geometrical arrangement of each of the swivel thrusters on the hull fixed coordinates, the longitudinal force, lateral force, and turning moment that each component of the thrust of the swivel thruster in the x-axis direction and y-axis direction gives to the hull. Communication with Using the formula obtained by solving the inverse problem of the determinant by the minimum right transformation, each of the thrusts to be generated in each of the swivel thrusters for satisfying the control input in the three axis directions is set in each of the x axis direction and the y axis direction. The component thrust distribution is uniquely obtained, and the respective hull motions are controlled by controlling each of the swivel thrusters with the obtained thrust distribution. In addition, the motion response to the control input is linearized by the successive least square method, and the feedback gain is calculated by the optimal regulator for the linear motion response. Thus, the thrust control of the swivel thruster ship is updated so that the feedback gain for performing the inner product with the deviation is updated by the calculated feedback gain. Since there is a method and apparatus, based on the geometrical arrangement of the swivel thrusters equipped on the hull on the hull fixed coordinates, each component of the thrust of each swivel thruster in the x-axis direction and y-axis direction is By solving the inverse problem of the determinant that shows the transmission of longitudinal force, lateral force, and turning moment applied to the hull using minimum right transformation, the hull is desired while holding the hull at a fixed point or keeping the bow direction constant. Generated in each of the above-mentioned swirl thrusters using the three axial control inputs of longitudinal force, lateral force, and turning moment required when moving in the desired direction or turning the hull in the desired left and right directions. The distribution of each component of the thrust to be generated in the x-axis direction and the y-axis direction can be uniquely determined. This makes it possible to convert to a one-input one-output system called uniaxial motion of front and rear, left and right, and turning, and feedback of deviation with respect to each axis. An inherently non-linear system called thrust generated by the operation of each of the above-mentioned swirling thrusters by sequentially linearly approximating the hull motion based on the thrust distribution of the swirling thrusters and solving the optimal regulator problem for each linear input / output system. An optimal feedback system for can be constructed.
(2) Further, in the thrust distribution of each turning thruster obtained by the minimum right conversion, the norm of each component in the x-axis direction and y-axis direction of the thrust to be generated by each turning thruster is minimized. Therefore, each swivel thruster can obtain a minimum thrust combination. Therefore, a ship equipped with three or more swivel thrusters can be held at a fixed point under the influence of disturbance, or moved in the desired direction of front / rear, left / right and diagonal directions while maintaining the heading, When the head is turned in the desired direction on the left and right, an optimum feedback amount can be obtained, and control can be automated.
(3) Based on the geometrical arrangement of the swivel thrusters on the hull fixed coordinates of a ship having three or more swivel thrusters, the thrust of each swivel thruster in the x-axis direction and y-axis direction In addition to the determinant that shows the transmission of the longitudinal force, lateral force, and turning moment that each component gives to the hull, the determinant is obtained using a transformation matrix that does not include terms related to the thrust of each swivel thruster. It does not include a term related to the thrust of the required single swivel thruster when a control input in the three axial directions of longitudinal force, lateral force, and turning moment required to act on the hull is given. Based on the formula obtained by solving the inverse problem of the determinant using the transformation matrix by the minimum right transformation, the x-axis direction of the thrust to be generated in each of the remaining swirl thrusters except the required one swirl thruster And y By determining the thrust distribution of each component in the direction, if the required swirl thruster cannot be used due to failure, etc., the inverse problem of the determinant excluding the terms related to the swirl thruster is obtained by minimum right conversion. Based on the longitudinal force, lateral force, and turning moment required to be applied to the hull using the solved equations, thrust is applied to each remaining swivel thruster capable of normal operation excluding the required swirl thrusters. Can be allocated. Therefore, even if any one of the swivel thrusters becomes unusable due to a failure or the like, the hull can be held at a fixed point and the desired movement can be reliably performed immediately.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  1 and 2 show a control method and apparatus for a swivel thruster ship according to the present invention, which are as follows.

That is, first, as shown in FIG. 2, on the hull 1 of a ship provided with three or more turning thrusters 2 at a required portion of the hull 1, the center of gravity G is the origin, the bow-tail direction is the x-axis direction, and left and right Hull fixed coordinates with the ship width direction as the y-axis direction are defined, and the x-axis direction components of the thrusts of each of the turning thrusters 2 on the hull fixed coordinates are T _{1, 3, 5,.} , Y-axis direction components are set as T _{2, 4, 6,..., N.}

Next, as shown in FIG. 1, as a control target, a position (X _S , Y _S ), a direction (ψ _S ), a turning speed (r _S ), and a state quantity to be held or a desired moving direction, When the longitudinal speed (u _S ) and the left and right speed (v _S ) are given (step 1: S 1), the adjustment unit 3 is a state obtained from various sensors such as GPS, gyrocompass, and current meter at that time. Deviations of position (X _{k + 1} , Y _{k + 1} ), direction (φ _{k + 1} ), answer speed (r _{k + 1} ), front-rear speed (u _{k + 1} ), and left-right speed (v _{k + 1} ) as quantities are taken (steps). 2: S2), about the state quantity vector for making the deviation zero,
k + 1 → k
Then, X (k), Y (k), ψ (k), r (k), u (k), v (k) are updated (step 3: S3).

Next, from the inner product of the deviation and the feedback gain, the control inputs F _X , F _Y , and F _N in the three axial directions of the longitudinal force X, lateral force Y, and turning moment N applied to the hull 1 are obtained by the following equations ( Step 4: S4).

この式から最小右変換により、各旋回式スラスタ１の推力配分を求める式を導出する。 After that, as described above, the x-axis direction components T _{1, 3,..., N−1} and y-axis direction components of the thrust of each of the swivel thrusters 2 on the hull fixed coordinates with the center of gravity G of the hull 1 as the origin are _expressed as T Under the conditions _{where 2, 4,..., N} are set, the above-described swirl thrusters 2 are formed by the same method as the method proposed by the present inventor in the previous application (Japanese Patent Application No. 2007-021389). _{.., N in} the x-axis direction and y-axis direction of the thrust of each swivel thruster 2 and these thrusts are applied to the hull 1 based on the geometrical arrangement on the hull fixed coordinates. seeking longitudinal force X, lateral force Y, the control force F _X for each turning moment _N, F _Y, the following matrix equation showing the transmission of the F _N to give,

From this equation, an equation for obtaining the thrust distribution of each swivel thruster 1 is derived by minimum right conversion.

Specifically, the above determinant is
F = PT
, T = P ^t (PP ^t ) ⁻¹ F
By deriving a determinant such that, given a certain value for F, that is, control inputs F _X , F _Y , and F _{N in} the three-axis directions, T, that is, the thrust of each swivel thruster 2 _{, N} in the x-axis direction and y-axis direction are determined as one combination (step 5: S5).

In step 5 (S5), the x-axis direction components T _{1, 3,..., N} of the thrust of each swivel thruster 2 to satisfy desired control inputs F _X , F _Y , F _N in the three axial directions. ₋₁ and y-axis direction components T _{2, 4,..., N} are determined to be one, the respective thrust thrusters 2 have x-axis direction components T _{1, 3,. Since the} swing angle for giving the _n-1 and y-axis direction components T _{2, 4,..., n} and the thrust in the swing angle direction are determined as one, this determined swing angle and thrust Is controlled by controlling the operation of each of the swivel thrusters 2 (step 6: S6).

After performing the hull motion in the above step 6 (S6), the position (X _{k + 1} , Y _{k + 1} ) and the direction (ψ _{k + 1} ) after the hull motion from various sensors such as GPS, gyrocompass, and current meter, The state quantities of the turning speed (r _{k + 1} ), the front-rear speed (u _{k + 1} ), and the left-right speed (v _{k + 1} ) are obtained (step 7: S7). By feeding back to (S2), the adjusting unit 3 updates the state quantity for deriving the deviation from the state quantity to be held in step 1 (S1) or the state quantity relating to the desired moving direction.

しかる後、最適レギュレータの計算によりフィードバックゲインを更新するようにする（ステップ９：Ｓ９）。 Further, the state quantity vectors X (k), Y (k), ψ (k), r (k), u (k), v (k) updated in step 3 (S3), and step 4 ( From the control inputs F _X , F _Y , F _N in the three-axis directions obtained in S4) and the state quantity after the hull movement obtained in Step 7 (S7), the control inputs F _X , F _Y , F _N A model (A _X , B _X, etc.) representing the motion response is updated by the successive approximation least square method as follows (step 8: S8),

Thereafter, the feedback gain is updated by calculation of the optimum regulator (step 9: S9).

を、

とするとき、評価関数Ｊ_ｒ：

を最小とする入力のためのフィードバックゲインは、

となる。
ここで、Ｒはリカッチ方程式

の解である。 Specifically, for example, for the longitudinal axis, for example,

The

If the evaluation function J _r :

The feedback gain for the input that minimizes

It becomes.
Where R is the Riccati equation

Is the solution.

When the feedback gain updated by the optimum regulator is obtained in step 9 (S9) as described above, this is returned to step 4 (S4), and next time in step 4 (S4), the deviation and From the inner product of the feedback gain, the value of the feedback gain is updated when the control inputs F _X , F _Y , and F _N in the three axial directions of the longitudinal force X, the lateral force Y, and the turning moment N that are applied to the hull 1 are obtained. To.

  Therefore, after that, in the step 2 (S2), the state quantity after the hull movement obtained in the step 7 (S7) and the state quantity to be held in the hull 1 given in the step 1 (S1) or The deviation from the state quantity relating to the desired moving direction of the hull 1 is obtained again, and the moving direction of the ship and each swivel thruster 2 are requested based on the deviation through the above step 3 (S3) to step 9 (S9). The corresponding thrust is made to correspond one-to-one, and each hull-type thruster is operated with the required thrust to cause the hull motion, and the feedback of the state quantity after the hull motion and the successive approximation minimum It is given in the above step 1 (S1) by sequentially repeating the procedure of linearizing the motion response by multiplication and updating the feedback gain calculated by the linear optimum regulator. And thrust allocation is performed for each pivoting thrusters 2 to match the control target, the operation of the respective swiveling thruster 2 are to be controlled.

Thus, according to the control method and apparatus for a ship having three or more swivel thrusters according to the present invention, the hull fixed coordinates of each swivel thruster 2 mounted on the hull 1 in step 5 (S5). Based on the geometrical arrangement above, each component T _{1, 2,..., N in} the x-axis direction and y-axis direction of the thrust of each swivel thruster 2 and the longitudinal force X applied to the hull 1 by the thrust By solving the inverse problem of the determinant indicating the transmission with the control forces F _X , F _Y , and F _N regarding the lateral force Y and the turning moment N using the minimum right transformation, the hull 1 is held at a fixed point, Triaxial control inputs F _X , F _Y , F _N required for moving the hull 1 in a desired direction while keeping the bow direction constant or turning the hull 1 in a desired direction on the left and right As a variable, the thrust to be generated by each of the swivel thrusters 2 x-axis and y-axis directions of the components _{(T 1, T 2, ···} T n) for the distribution of can be uniquely determined, before and after, left and right, respectively uniaxial movement of the stem turning, deviation for each of those axes Can be converted into a one-input one-output system called feedback. Therefore, with regard to the thrust distribution of each swivel thruster 2 obtained as this one-input one-output system, if the movement is within a short time, the physical phenomenon can be linearized based on the property that it can be linearized. Establish an optimal feedback system for the inherently nonlinear system of thrust generated by the operation of each swivel thruster 2 by sequentially linearly approximating the motion of the hull 1 and solving the optimal regulator problem for the linear input / output system This makes it possible to automate the fixed point holding and steering of the ship.

Further, in the thrust distribution of the respective turning thrusters 2 obtained by the minimum right conversion in the step 5 (S5), the thrusts to be generated by the respective turning thrusters 2 respectively determined in the x-axis direction and the y-axis direction are determined. Since the norm of the components (T ₁ , T ₂ ,... T _n ) is minimized, it becomes possible to obtain a minimum thrust combination of each swivel thruster 2.

  As described above, a ship equipped with three or more swivel thrusters 2 can be held in a fixed point under the influence of a disturbance, or moved in the desired direction of front, back, left, right, and diagonal while maintaining the heading. Or an optimum amount of feedback can be obtained when the head is turned in the desired direction on the left and right.

In step 5 (S5), on the assumption that all the swivel thrusters can be operated normally, each swivel thruster 2 is based on the geometrical arrangement on the hull fixed coordinates. _{, N in} the x-axis direction and y-axis direction of the thrust of the thruster 2, and the control forces relating to the longitudinal force X, lateral force Y, and turning moment N applied to the hull 1 by these thrusts By obtaining a determinant using a transformation matrix P indicating transmission with F _X , F _Y , and F _N and solving this inverse problem by the minimum right transformation method, the thrust distribution of all the swivel thrusters 2 is obtained. However, for each swivel thruster 2, each component T in the x-axis direction and y-axis direction of the thrust of the remaining swirl thruster 2 is excluded, except for the terms related to the swirl thruster 2. These thrusts are applied to the hull 1. Longitudinal force X, lateral force Y, the control force F _X for each turning moment _N, F _Y, by previously preparing a matrix P that indicates the transmission of the F _N, non swiveling thruster used due to a failure or the like that When 2 occurs, the conversion matrix P used in step 5 (S5) is replaced with the conversion matrix P obtained in advance in a state excluding the terms related to the unusable swivel thruster 2. It is possible to easily determine the thrust distribution for the remaining swivel thrusters 2 that can be operated normally except for the unusable swivel thrusters 2. Therefore, even when the unusable swivel thruster 2 occurs due to a failure or the like, it is possible to cope with it immediately and easily.

  Note that the present invention is not limited to the above embodiment, and any number of swivel thrusters 2 may be used as long as the ship has three or more swivel thrusters 2 in the hull 1. Needless to say, the present invention can be applied to a ship, a floating body, and any other type of ship, and various modifications can be made without departing from the scope of the present invention.

FIG. 2 is a diagram illustrating a flow of control operation according to an embodiment of a thrust control method and apparatus for a turning thruster ship of the present invention. It is a figure which shows the outline | summary of the ship equipped with the 3 or more turning type thruster used as the object of the thrust control method of FIG.

Explanation of symbols

1 hull 2 pivoting thruster X longitudinal force Y lateral force N turning moment _{T 1, T 2, ···,} T n pivoting each component of the x-axis and y-axis directions of the thrust of the thruster

Claims (3)

  Move a ship with three or more swivel thrusters at a desired moving speed in the desired direction of front / rear, left / right, and diagonal while maintaining the fixed point or holding the heading, and also in the left / right desired direction Given a control target that is required to act on the hull to turn at the desired turning speed, the deviation is reduced to zero from the deviation from the current state quantity of the ship and the inner product of the feedback gain. To obtain the control inputs in the three axial directions of longitudinal force, lateral force, and turning moment that are required to be applied to the hull, and then to the hull fixed coordinates of a ship having three or more swivel thrusters Based on the geometrical arrangement of each of the swivel thrusters above, transmission of the longitudinal force, lateral force, and turning moment that the components of the thrust of each swivel thruster in the x-axis direction and y-axis direction exert on the hull Line indicating Using the formula obtained by solving the inverse problem of the formula by the minimum right transformation, each component of the thrust in the x-axis direction and y-axis direction of the thrust to be generated by each of the swivel thrusters to satisfy the control input in the three-axis direction is calculated. The thrust distribution is uniquely obtained, and the respective hull motions are performed by controlling each of the swivel thrusters with the obtained thrust distribution, and the state quantity of the ship that is changed by the hull movement is determined with respect to the control target. Feed back to the state quantity to obtain the deviation, and further linearize the motion response to the control input by the successive approximation least square method, and calculate the feedback gain by the optimal regulator for the linear motion response, A swiveling thruster characterized in that a feedback gain for performing an inner product with the deviation is updated by a calculated feedback gain. Thrust control method of.   Based on the geometrical arrangement of each swivel thruster on the fixed hull coordinates of a ship having three or more swivel thrusters, each component of the thrust of each swivel thruster in the x-axis direction and y-axis direction is In addition to the determinant that shows the transmission of longitudinal force, lateral force, and turning moment applied to the hull, a determinant using a transformation matrix that does not include terms related to the thrust of each swivel thruster, A conversion matrix that does not include a term related to the thrust of one required swivel thruster when given three-axis control inputs of longitudinal force, lateral force, and turning moment required to be applied to the hull. Based on an equation obtained by solving the inverse problem of the determinant used by the minimum right transformation, the x-axis direction and the y-axis of the thrust to be generated in each of the remaining swirl thrusters except the required one swirl thruster direction Thrust control method according to claim 1, wherein the pivoting thruster vessels to determine a thrust distribution of each component.   The hull has three or more swivel thrusters and a control unit for obtaining thrust distribution of each of the swivel thrusters. The control unit holds the ship at a fixed point or changes the heading. It is required to move in the desired direction of front / rear, left / right and diagonal directions while holding it, or to act on the hull to turn at the desired turning speed in the left / right desired direction. Given a control target, the longitudinal force and lateral force required to be applied to the hull to make the deviation zero from the deviation between the state quantity of the ship at that time and the inner product of the feedback gain In addition to obtaining control inputs in three axial directions of the turning moment, each swivel type is determined based on the geometrical arrangement of the swivel thrusters on the hull fixed coordinates of a ship having three or more swivel thrusters. Suras Using the formula obtained by solving the inverse problem of the determinant that shows the transmission of the longitudinal force, lateral force, and turning moment that the components of the thrust of the x-axis and y-axis give to the hull by the minimum right transformation, the three axes The thrust distribution of each component in the x-axis direction and the y-axis direction of the thrust to be generated by each of the swivel thrusters for satisfying the direction control input is uniquely obtained, and each of the swivel formulas is determined by the obtained thrust distribution. The thruster can be controlled, and the state quantity of the ship that changes due to the hull motion that occurs when each turning thruster is controlled by the thrust distribution is obtained to obtain a deviation from the control target. In addition, the motion response to the control input is linearized by the successive least square method, and the linear motion response is fed back by an optimal regulator. Thrust control of a swivel thruster ship, which has a function of updating a feedback gain for performing an inner product with the deviation based on the calculated feedback gain apparatus.

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