JP5151168B2 - Thrust control method and apparatus for biaxial ship having bow thruster and swivel thruster - Google Patents

Description

  The present invention provides a ship of a type having a pair of swivel thrusters on both left and right sides and a bow thruster at the bow, while maintaining the bow direction according to the operation of the joystick lever, etc. Thrust control of a biaxial ship having a bow thruster and a swivel thruster used to control the thrust generated by the swivel thrusters and bow thrusters on both sides so that they can be moved obliquely and turned. It relates to a method and a device.

  In ships that navigate narrow premises and ships that require high maneuverability, such as work ships, in addition to the propeller driven by the main engine, a bow thruster is installed under the surface of the bow to improve maneuverability. Such a configuration has been widely adopted.

  Further, in recent years, in a ship equipped with the bow thruster as described above, the operability at the time of berthing and berthing of the ship is improved, or the operability when adjusting the position and heading of the ship such as a work ship is improved. Therefore, it is becoming possible to control the movement of the ship in the front-rear and left-right directions and the turning of the boat by operating the joystick lever.

  Control of a ship using this type of joystick lever is generally performed by tilting the joystick lever in the forward / backward, left / right, or diagonal directions when desired to move the ship, and turning the ship according to the tilted direction. It is possible to move in the desired direction of front / rear, left / right, and oblique directions while maintaining the heading without any change, and according to the amount of inclination (inclination angle) when operating the joystick lever by tilting Thus, it is possible to adjust the moving speed when the ship is moved in the desired direction of front and rear, left and right, and diagonal directions.

  Furthermore, as a configuration comprising a grip portion that can rotate the joystick lever in the left-right direction, by performing an operation of rotating the grip portion in either the left-right direction in which the ship is desired to turn. According to the rotated direction, the ship can be turned in the left and right desired directions, and according to the operation amount (rotation angle) when the grip portion is rotated in the left and right direction, The turning speed when the ship is turned in the desired direction on the left and right can be adjusted.

  Moreover, instead of the configuration in which the joystick lever is provided with a grip portion that can be rotated in the left-right direction, a turning dial for controlling the turning of the ship is provided separately from the joystick lever, and the turning dial is rotated. Depending on the direction of operation and the amount of operation (rotation angle), the ship is turned in the desired direction on the left and right, and the turning speed can be adjusted.

  By the way, one type of ship equipped with a plurality of actuators for propulsion is of a type comprising a pair of left and right turning thrusters on the left and right sides of the stern of the hull and a bow thruster on the bow. is there. The movement of this type of ship while maintaining the heading and the movement of turning, etc., is a combination of the thrust (thrust) generated by the swivel thrusters on the left and right sides and the thrust generated by the bow thruster. Determined by. Therefore, when the above-described control of the ship by the joystick lever is applied to the biaxial ship having the bow thruster and the turning thruster, the ship is kept in the heading direction according to the tilting operation of the joystick lever. The longitudinal force (hereinafter referred to as the longitudinal force) and the lateral force (hereinafter referred to as the lateral force) required to be applied to the hull in order to move in the desired direction in the forward / backward, left / right and diagonal directions. And the turning required to act on the hull in order to turn the ship in the desired direction to the left and right at the desired turning speed in response to the rotation of the grip part of the joystick lever and the turning dial. The moment to be generated by the above-mentioned left and right swivel thrusters and the thrust to be generated by the bow thruster It is necessary to appropriately distributed.

  Furthermore, in a biaxial ship having the bow thruster and the swivel thruster, the ship arrives instead of the manual maneuvering of the ship via manual operation of the joystick lever and its grip part as described above and the joystick lever and turning dial. The ship position and direction to be set in advance in the autopilot, and the autopilot automatically operated the ship according to the set ship position and the set direction, and the ship was kept in the heading. It may be possible to move it back and forth, left and right, diagonally, or turn it to the left and right. In this case as well, the longitudinal force and side force required to be applied to the hull to perform the above-mentioned movement It is necessary to appropriately distribute the force and the turning moment to the thrust of the swivel thruster on both the left and right sides and the thrust of the bow thruster installed in the ship.

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

  In other words, this is the amount of operation given to each thrust generator in order to cause a traveling body including a plurality of thrust generators that generate thrust corresponding to the operation amount to travel or hold a fixed point with a given target thrust. In the thrust distribution method for calculating the thrust of the traveling body, the thrust and the force and moment related to the thrust of the traveling body are calculated based on the nonlinear characteristics of each thrust generator. While preliminarily determining the balance relationship, a predetermined evaluation function related to the state quantity and / or generated thrust for each thrust generator is defined to reduce the thrust generated by the thrust generator as much as possible. Based on the balance relationship and the evaluation function, each of the predictions satisfying the balance relationship with the target thrust and satisfying a predetermined condition for the evaluation function. Is that so as to calculates the amount of operation of the generator approaches. Furthermore, this method is also applicable to the case where the thrust generating device is a turning thruster (see, for example, Patent Document 1).

JP 2004-42885 A

  However, the thrust distribution method described in Patent Document 1 needs to perform complex arithmetic control for solving an optimal problem in order to derive a control law. For this reason, during actual operation of the ship, for example, if a deviation occurs between the desired movement of the ship determined by operating the joystick lever and the actual movement of the ship, it takes time to correct this deviation. There is a problem that it is difficult to immediately respond to the situation in the field. Furthermore, it is difficult to respond immediately even if a failure occurs in some devices.

  Therefore, a biaxial ship having a bow thruster and a swivel thruster is moved at a desired moving speed in the desired direction of front / rear, left / right, and oblique directions while maintaining the heading direction, or desired in the desired direction of the left / right. In order to rotate at the revolving speed, there is a demand for a control method that can easily derive the control law for the thrust to be generated by the bow thruster and the left and right swivel thrusters, but no proposal has been made in the past. That is the case.

  That is, in a biaxial ship having a bow thruster and a swivel thruster, the degree of freedom of force required to be applied to the hull in order to perform the desired movement as described above is such that the longitudinal force, lateral force, and turning moment are: In spite of the three degrees of freedom, the degree of freedom on the actuator side for propulsion is the thrust of the bow thruster, the swing angle (direction of thrust) and thrust of the swivel thruster on the starboard side, and the swivel on the starboard side. It is the swing angle (direction of thrust) and thrust of the thruster, and has 5 degrees of freedom. For this reason, even if an attempt is made to derive a solution for optimal operation of the bow thruster and the swivel thrusters on both sides based on the longitudinal force, lateral force and turning moment required to act on the hull. Because there are fewer variables than unknowns, it is not possible to determine a single solution for unknowns. For this reason, even when a biaxial ship having a bow thruster and a swivel thruster performs a certain desired motion, the bow thruster and the swivel on both the left and right sides for performing this one motion (output) Since there are many combinations (inputs) of the operation of the expression thruster, the control becomes a multi-input single-output system.

  However, when maneuvering with a joystick lever or the like, the direction in which the lever is tilted and the moving direction of the ship must be a one-input one-output system corresponding to one-to-one.

  Therefore, conventionally, it is necessary to perform control after reducing the degree of freedom of each swivel thruster in advance, such as fixing the swing angle of the swivel thrusters on the left and right sides in a direction along the desired moving direction. It was.

  Therefore, the present invention moves a biaxial ship having a bow thruster and a swivel thruster in the desired direction of front / rear, left / right, and oblique directions while maintaining the heading in accordance with the operation of the joystick lever, etc. Given the force required to act on the hull to allow it to turn in the desired direction, it will lead to a solution for swivel thrusters on both sides and bow thrusters. In addition, it is possible to construct a control of a 1-input 1-output system that can be operated, and in the unlikely event that any of the above-mentioned swivel thrusters on both sides and the bow thruster fails, a bow thruster and a swivel thruster that can respond immediately It is intended to provide a thrust control method and apparatus for a biaxial ship having

In order to solve the above-mentioned problems, the present invention is based on the geometric arrangement of the left and right swivel thrusters on the hull fixed coordinates of a biaxial ship having a bow thruster and a swivel thruster, and the geometric arrangement of the bow thruster. In addition to the determinants that represent the transmission of thrust, the components in the x-axis direction and the y-axis direction of the thrust of the swivel thrusters on the left and right sides, and the longitudinal force, lateral force, and turning moment that each thrust gives to the hull , Under the condition that the thrust of the bow thruster is fixed at the maximum thrust value, the x-axis and y-axis components of the thrust of the left and right swivel thrusters, the longitudinal force and lateral force that each thrust exerts on the hull , to previously obtain the matrix equation for the saturation time of the bow thruster illustrating the transmission of a turning moment, the two axes ship having the bow thruster and the turning thrusters, longitudinal while keeping holding the heading, left and right, of the desired oblique direction A longitudinal force as a three-way component of a force required to be applied to the hull in order to move in the desired direction at a desired moving speed, or to turn at a desired turning speed in the desired direction on the left and right sides, a lateral force, When a turning moment is given, based on the longitudinal force, lateral force, and turning moment required to be applied to the hull, an equation obtained by solving the inverse problem of the former determinant by minimum right transformation is used. Then, the thrust to be generated by the bow thruster and the respective components in the x-axis direction and y-axis direction of the thrust to be generated by the swivel thrusters on both the left and right sides are obtained. At this time, the thrust to be generated by the bow thruster When reaches saturation, the thrust to be generated by the bow raster is fixed at the maximum thrust, and the inverse problem of the bow thruster saturation determinant is solved by the minimum right transformation. And the turning thrusters of the left and right both broadside and thrust control method and apparatus for biaxially ship having a bow thruster and pivoting thruster to recalculate the components in the x-axis direction and the y-axis direction of the thrust to be generated respectively .

Further, in each of the above configurations, the thrust of the bow thruster, the components of the thrust of the left and right swivel thrusters in the x-axis direction and the y-axis direction, and the longitudinal force, lateral force, and turning moment that the thrust exerts on the hull. In addition to the determinant indicating transmission, the determinant when the bow thruster is not used from which the related term of the bow raster is removed from the determinant, or when the starboard swivel thruster is not used, excluding the related term of the starboard swivel thruster If the determinant for the portside swivel thruster is not used, except for the determinants for the port and the starboard swivel thruster, and the bow thruster cannot be used, the starboard swivel thruster cannot be used. When the port side swivel thruster cannot be used, the corresponding bowus raster non-use determinant, starboard side swivel thruster non-use determinant, and port side swivel thruster non-use Based on the longitudinal force, lateral force, and turning moment required to be applied to the hull, using the formula obtained by solving the inverse problem of the determinant by the minimum right transformation, the bow thruster and the swivel thrusters on both sides Among them, a thrust control method and apparatus for a two-shaft ship having a bow thruster and a swivel thruster for obtaining thrusts to be generated respectively by two thrusters capable of normal operation .

According to the present invention, the following excellent effects are exhibited.
(1) Based on the geometrical layout of the left and right swivel thrusters and the bow thruster on the hull fixed coordinates of a biaxial ship having a bow thruster and a swivel thruster, the thrust of the bow thruster and the swivel thrusters on the left and right sides A determinant representing the transmission of each component of the thrust in the x-axis direction and y-axis direction and the longitudinal force, lateral force, and turning moment that each thrust exerts on the hull, and two axes having the bow thruster and the swivel thruster To move the ship in the desired direction of movement in the forward / backward, left / right, and diagonal directions while maintaining the heading, or to act on the hull to turn in the desired turning speed in the left / right desired direction. When given longitudinal force, lateral force, and turning moment as the three-direction components of the required force, longitudinal force, lateral force, and turning moment required to act on the hull Based on the equation obtained by solving the inverse problem of the determinant by the minimum right transformation, the thrust to be generated by the bow thruster and the thrust to be generated by the swivel thrusters on both the left and right sides are respectively x-axis direction and y-axis because are so as to obtain each component of direction, longitudinal force exerting on the hull in order to perform the movement desired biaxial ship having the bow thruster and pivotally thruster is required, the lateral force, the turning moment Based on the three variables, it is possible to uniquely calculate the x-axis and y-axis components of the thrust that should be generated by the five thrust thrusts of the bow thruster and the left and right swivel thrusters. Thus, a combination of the minimum thrusts of each bow thruster and the left and right swivel thrusters can be obtained. This combines the minimum thrust of the bow thruster and the swivel thrusters on the left and right sides of the biaxial ship with the bow thruster and the swivel thruster in the desired direction in the front, rear, left, and right directions while maintaining the heading. Thus, the robot can be moved at a desired moving speed and can be turned at a desired turning speed in the desired direction on the left and right.
(2) For each of the longitudinal force, the lateral force, and the turning moment that are the three-way components of the force required to act on the hull in order to make the biaxial ship having a bow thruster and a swivel thruster perform the desired movement, Since it is possible to construct a control system of three one-input one-output systems that can be individually controlled, it becomes possible to operate the biaxial ship having the bow thruster and the swivel thruster by using a joystick lever. Further, even if there is a deviation between the desired movement of the biaxial ship having the bow thruster and the swivel thruster and the actual movement during maneuvering, the longitudinal force and lateral force required to be applied to the hull are described. Since each of the force and the turning moment can be individually feedback controlled, the deviation can be easily corrected and the controllability can be improved.
(3) Furthermore, since the control system of a biaxial ship having a bow thruster and a swivel thruster can be simplified to a one-input one-output system, it is possible to apply a classical control algorithm with high results and reliability. Become.
(4) Furthermore, the thrust control method and apparatus for a biaxial ship having a bow thruster and a swivel thruster according to the present invention is directed to the x-axis direction of the thrust of the bow thruster and the thrust of the swivel thrusters on the left and right sides in the configuration of (1) above. In addition to the determinants that show the transmission of each component in the y-axis direction and the longitudinal force, lateral force, and turning moment that each thrust gives to the hull, under the condition that the thrust of the bow thruster is fixed at the maximum thrust value A determinant for bow thruster saturation indicating the transmission of thrust components of the swivel thrusters on the left and right sides in the x-axis direction and y-axis direction, and the longitudinal force, lateral force, and turning moment that the thrust exerts on the hull. Based on the longitudinal force, lateral force, and turning moment that are required to be applied to the hull, the inverse problem of the above determinant is solved by the minimum right transformation and is generated by the bow thruster. Thrust to be made When the thrust to be generated in the x-axis direction and the y-axis direction of the thrust to be generated by the swivel thrusters on both the left and right sides is obtained and the thrust to be generated by the bow thruster reaches saturation, the thrust to be generated by the bow thruster Is fixed to the maximum thrust, and the x-axis direction and the y-axis of the thrust to be generated by the swivel thrusters on the left and right sides using the formula obtained by solving the inverse problem of the bow thruster saturation matrix equation by the minimum right transformation. because are to be recalculated each component in the direction, even when the thrust of the bow thruster reaches saturation, by acting on the hull with the thrust of the bow thruster reaches this saturation, the bow thruster and the pivot thrusters Easily and reliably finding a combination of thrusts on the left and right swivel thrusters that allows the two-axis ship to have the desired movement It is possible.
(5) Furthermore, transmission of the thrust of the bow thruster, each component in the x-axis direction and y-axis direction of the thrust of the swivel thruster on the left and right sides, and the longitudinal force, lateral force, and turning moment that each thrust gives to the hull. In addition to the determinant shown, the determinant when the bow thruster is not used from which the related term of the bow raster is removed, or the starboard side swivel thruster is excluded when the related term of the starboard side swivel thruster is excluded. Determining the determinant and the determinant for when the portside swivel thruster is not used, excluding the related terms of the starboard swivel thruster, if the bow thruster cannot be used, or if the starboard swivel thruster cannot be used, If the port side swivel thruster cannot be used, the corresponding determinants when the bow thruster is not used, the star determinant when the star swivel thruster is not used, and the determinant when the port side swivel thruster is not used are reversed. Based on the longitudinal force, lateral force, and turning moment required to be applied to the hull using the formula obtained by solving the minimum right conversion, normal operation among the bow thruster and the swivel thrusters on both sides Since the thrust to be generated by each of the two possible thrusters is obtained , in the unlikely event that any one of the bow thruster, starboard side swivel thruster, and port side swivel thruster cannot be used. Even if there are two thrusters that can operate normally, the longitudinal force, lateral force, and turning moment that are required to be applied to the hull in order to make the biaxial ship having a bow thruster and a swivel thruster perform the desired movement. The thrust can be distributed appropriately and reliably. Therefore, even if any one of the bow thruster, the starboard side swivel thruster, and the port side swivel thruster becomes unusable due to a failure or the like, an immediate response can be made.

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

FIGS. 1 and 2 show a thrust control method and apparatus for a biaxial ship having a bow thruster and a swivel thruster according to the present invention. In general, as shown in FIG. On a hull 1 of a biaxial ship having a bow thruster 2 having a bow thruster 3 at the bow and a swivel thruster with a pair of swivel thrusters 2a and 2b, the bow tail direction is defined as the x axis direction with the center of gravity as the origin. And the hull fixed coordinate which makes a right-and-left ship width direction the y-axis direction is defined. Based on the geometrical arrangement of the left and right swivel thrusters 2a and 2b and the bow thruster 3 on the hull fixed coordinates, the thrust F _{b of the} bow thruster 3 and the x-axis direction of the thrust of the swivel thruster 2a on the starboard side The component T ₁ and the y-axis direction component T ₂ , and the x-axis direction component T ₃ and the y-axis direction component T ₄ of the thrust of the starboard-side swivel thruster 2 b are used as elements (F _b , T ₁ , T ₂ , T ₃ , T ₄ ) ^t (where t on the right shoulder represents transposition, the same applies hereinafter), and the thrust F _b and the longitudinal force X and lateral force that T ₁ , T ₂ , T ₃ , T ₄ exert on the hull 1. A determinant indicating the transmission between the force Y and the turning moment N and (X, Y, N) ^t is obtained. Next, by solving the inverse problem of the above determinant by Minimum Right Inverse, from (X, Y, N) ^t to (F _b , T ₁ , T ₂ , T ₃ , T ₄ ) ^t Determining the determinant indicating the transmission of Thereafter, the biaxial ship having the bow thruster and the swivel thruster is moved in the desired direction of front / rear, left / right and diagonal directions while maintaining the heading according to the operation of the joystick lever 4 or the like. When the longitudinal force X, the lateral force Y, and the turning moment N are given as the three-way components of the force required to act on the hull 1 to turn in the direction, the three-way component of the required force (X, Y, N) ^t is substituted into the determinant derived by the minimum right transformation, the thrust F _b to be generated by the bow thruster 3 and the swivel thrusters on both the left and right sides The x-axis direction components T ₁ and T ₃ and the y-axis direction components T ₂ and T ₄ of the thrust to be generated in 2a and 2b are obtained.

  Details will be described below.

  First, derivation of a thrust control method for a biaxial ship having a bow thruster and a swivel thruster according to the present invention will be described.

  First, the geometrical arrangement of the bow thruster 3 on the hull 1 of a biaxial ship having a bow thruster and a swivel thruster and the swivel thrusters 2a and 2b on both the left and right sides is shown in FIG. Is defined on the hull fixed coordinates with the center of gravity G as the origin and the fore-and-aft direction along the hull center line as the x-axis direction and the right and left ship width directions perpendicular thereto as the y-axis direction. Specifically, the swivel thrusters 2a and 2b on the left and right sides are arranged at positions separated by lx rearward from the center of gravity G and at positions separated by ly on the left and right sides of the hull center line. It shall be. Further, the bow thruster 3 is arranged on the hull center line at a position lb away from the center of gravity G.

上記におけるＲ_ＢＴは、バウスラスタ３に要求される推力Ｆ_ｂを軽減するための係数である。すなわち、一般に、バウスラスタ３の方が、主推進器となる左右両舷側の旋回式スラスタ２ａ，２ｂよりも最大推力が小さいので、この係数Ｒ_ＢＴを１よりも小さい正の数に設定することで、バウスラスタ３の負担を軽減することが可能になる。 Thus, from the geometrical arrangement of the left and right swivel thrusters 2a and 2b and the bow thruster 3 on the hull fixed coordinates, the thrust F _{b of the} bow thruster 3 and the x axis of the thrust of the swivel thruster 2a on the starboard side are obtained. The direction component T ₁ and the y-axis direction component T ₂ , and the x-axis direction component T ₃ and the y-axis direction component T ₄ of the thrust of the starboard side swivel thruster 2b are elements (F _b , T ₁ , T _2). , T ₃ , T ₄ ) ^t, and the longitudinal force X, lateral force Y, and turning moment N applied to the hull 1 by the thrusts F _b and T ₁ , T ₂ , T ₃ , T ₄ (X, Y, N) The determinant showing the transmission with ^t is as follows:

R _BT in the above is a coefficient for reducing the thrust F _b required for the bow thruster 3. That is, in general, the bow thruster 3 has a smaller maximum thrust than the swivel thrusters 2a and 2b on the left and right sides of the main propulsion unit. Therefore, the coefficient _RBT is set to a positive number smaller than 1. Thus, the burden on the bow thruster 3 can be reduced.

Here, the inverse problem of the above equation (1) is simply solved, and each component (X, Y, N) ^t on the left side is used as a variable, and (F _b / R _BT , T ₁ , T ₂ , T _{3 on the} right side). , T ₄ ) Considering the case of obtaining ^t as an unknown number, the variables X, Y, and N are less than the unknown numbers F _b , T ₁ , T ₂ , T ₃ , and T ₄ . Therefore, in this case, a biaxial ship having a bow thruster and a swivel thruster is moved in the desired direction in the front / rear, left / right and diagonal directions while maintaining the heading direction, or turned in the desired direction in the left / right direction. Even if a longitudinal force X, a lateral force Y, and a turning moment N as the three-direction components of the force required to be applied to the hull 1 are applied, the thrust F _b to be generated by the bow thruster 3 and both left and right The distributions of the x-axis direction components T ₁ and T ₃ and the y-axis direction components T ₂ and T ₄ on the hull fixed coordinates of the thrust to be generated by the swivel thrusters 2a and 2b are not uniquely determined.

  Therefore, in the present invention, the inverse problem of the above equation (1) is solved using the minimum right transformation.

More specifically, the minimum right transformation is a technique for finding a solution that minimizes the norm (sum of squares of vector elements) of an infinite number of simultaneous equations, wherein x is nth order and y is m Next, when F is an m × n-order matrix and the relationship between x and y is expressed by the following equation (2), it is given by the following equation (3).

When the minimum right transformation is applied to the above equation (1), the following equation is obtained as a specific calculation equation.

By using the above formula (4), a biaxial ship having a bow thruster and a swivel thruster can be moved in the desired direction of front / rear, left / right, and diagonal directions while maintaining the heading direction, or the desired direction of left / right (X, Y, N) ^t, which includes the longitudinal force X, the lateral force Y, and the turning moment N as the three components of the force required to be applied to the hull 1 in order to turn to the side, is given. For example, (F _b / R _BT , T ₁ , T ₂ , T ₃ , T ₄ ) ^t is uniquely determined, so that the thrust F _b required to be generated by the bow thruster 3 and the swivel thrusters on the left and right sides One distribution of the x-axis direction components T ₁ and T ₃ and the y-axis direction components T ₂ and T ₄ on the hull fixed coordinates of the thrust required to be generated in 2a and 2b, respectively, is determined. At this time, since the norms of the thrusts F _b , T ₁ , T ₂ , T ₃ , and T ₄ are minimum, a combination of the minimum thrusts of the thrusters 2a, 2b, and 3 is obtained. .

Thereafter, for the swivel thrusters 2a and 2b on the left and right sides, the x-axis direction components T ₁ and T ₃ and the y-axis direction components T ₂ and T ₄ of the thrust required to be generated as described above are obtained. if wanted, by each of the following formulas, from the argument and its force, a port thrust T _L and starboard thrust T _R that is required to be generated separately for each swivel thruster 2a and 2b, the port side of the pivoting a swing angle theta _L thruster 2a, it is possible to guide the swing angle theta _R starboard side of the pivoting thruster 2b, respectively.

As a result, the hull 1 can be used to move the biaxial ship having the bow thruster and the swivel thruster in the desired direction of the front / rear, left / right, and diagonal directions while keeping the heading, and to turn in the desired direction of the left / right. Given a certain combination of the longitudinal force X, the lateral force Y, and the turning moment N as the three-direction components of the force required to act on the thrust, the thrust F _{b of the} bow thruster 3, the port side The swinging angle θ _L and port side thrust T _L of the swivel thruster 2a and the swing angle θ _R and starboard thrust T _{R of} the starboard side thruster 2b are uniquely determined.

上記におけるｕは前後方向の速度、ｖは横方向の速度、ｒは回頭角速度であり、添え字ｃは各々への指令値を表す。又、ｋ_ｇｘ、ｋ_ｇｙ、ｋ_ｇｒは、各々のフィードバックゲインを示す。 Furthermore, it acts on the hull 1 to move a biaxial ship having a bow thruster and a swivel thruster in the desired direction of front / rear, left / right, and diagonal directions while keeping the heading, and to turn in the desired direction of left / right. It is considered that the longitudinal force X, the lateral force Y, and the turning moment N as the three-direction components of the force required to be applied can be given by feedback of the velocity signal when moving in the corresponding directions. Therefore, it is given by the following equation.

In the above, u is the speed in the front-rear direction, v is the speed in the horizontal direction, r is the turning angular velocity, and the suffix c represents the command value for each. Also, k _gx , k _gy , and k _gr indicate the respective feedback gains.

As described above, the lateral force X required to be applied to the hull 1 in order to move the hull 1 in the desired direction by the operation of the swivel thrusters 2a and 2b and the bow thruster 3 on the left and right sides, and the side It is possible to replace the control system with three one-input one-output systems that can individually control the force Y and the turning moment N. Therefore, by setting (u _c , v _c , r _c ) and (k _gx , k _gy , k _gr ) appropriate for the position of the joystick lever 4, the joystick lever 4 can be used for maneuvering. Furthermore, since the control system derived in the above is a 1-input 1-output system, it is possible to apply a reliable classical control algorithm.

By the way, when deriving the above equation (4), the thrust _Rb required for the bow thruster 3 can be reduced by using the coefficient _RBT in the equation (1) in advance. As a three-way component of the force required to act on the hull 1 in order to move a biaxial ship having a thrust thruster in the desired direction while maintaining the heading, or to turn in the desired direction on the left and right Depending on the combination of the longitudinal force X, the lateral force Y, and the turning moment N, the thrusts F _b , T ₁ , T ₂ , T ₃ , T ₄ can be derived using the above equation (4) based on these values. The value of the thrust F _b of the bow raster 3 may reach the maximum thrust (± F _b max) that can be output by the bow raster 3 and become saturated. In this case, since the required value for the thrust F _b of the bow raster 3 cannot be set exceeding the value of ± F _b max, the value of the bow thrust thrust F _b in the matrix element of the above equation (1) is set to an unknown number. Instead, each component T _{1 in} the x-axis direction and y-axis direction of the thrusts of the swivel thrusters 2a, 2b on the left and right sides under a constant (fixed) condition (F _b = ± F _b max) , T _3, T ₂ , T _4, and the thrust of the thrust thrust T ₁ , T ₂ , T ₃ , T ₄ indicating the transmission of the longitudinal force X, the lateral force Y, and the turning moment N applied to the hull 1. After the determinant is obtained, the inverse equation of the bow raster saturation determinant is solved by the minimum right transformation in the same manner as in the case of deriving the above equation (4), whereby the following equation (10) can be obtained. .

Therefore, in the present invention, a biaxial ship having a bow thruster and a swivel thruster can be applied to the hull 1 in order to move it in a desired direction while maintaining the heading or to turn it in the desired direction on the left and right. When the longitudinal force X, the lateral force Y, and the turning moment N as the three directions components of the required force are given, first, the thrusts F _b , T ₁ , T ₂ , T ₃ , to direct the T _4. Next, when the thrust F _{b of the} bow thruster 3 derived by the above equation (4) has reached saturation (± F _b max), the thrust F _{b of the} bow raster 3 is fixed to ± F _b max (constant). Thereafter, by recalculating using the above equation (10), the x-axis direction components T ₁ and T ₃ on the hull fixed coordinates of the thrust required for the left and right swivel thrusters 2a and 2b, and the y-axis Direction components T ₂ and T ₄ are derived.

  In addition, the above equations (4) and (10) are equations that are derived on the assumption that the swivel thrusters 2a and 2b and the bow thruster 3 on both the left and right sides can be normally operated. Therefore, if any one of the starboard side swivel thruster 2a, starboard side swivel thruster 2b, or bow thruster 3 is unusable due to a failure or the like, Even if the thrusts of the thrusters 2a, 2b, and 3 are calculated using the equations (4) and (10), they cannot actually be applied.

Therefore, in the present invention, after obtaining a determinant for when the bow raster is not used, excluding the terms related to the bow raster 3 from the matrix elements of the above equation (1), the inverse problem of the matrix equation for when the bow raster is not used is obtained. As in the case of deriving the above equation (4), the equation (11) used in the case where the bow raster 3 is not used is obtained in advance as follows. .

Further, after obtaining a determinant when the starboard side swivel thruster is not used from the elements of the matrix of the formula (1) except for the terms related to the starboard side swivel thruster 2b, the starboard side swivel thruster is obtained. By solving the inverse problem of the non-use determinant by the minimum right transformation in the same manner as described above, the following formula (12) is adopted in the case where the starboard turning thruster 2b is not used as follows. To keep.

Further, after obtaining a determinant for the time when the port side swivel thruster is not used from the matrix element of the above formula (1) except for the terms related to the port side swivel thruster 2a, the port side swivel thruster is used. By solving the inverse problem of the non-use determinant by the minimum right transformation in the same manner as described above, Equation (13) to be employed in the case where the port-side swirl thruster 2a is not used is obtained as follows. To keep.

Then, a biaxial ship having a bow thruster and a swivel thruster is moved on the hull 1 in order to move it in the desired direction of front / rear, left / right and diagonal directions while maintaining the heading, and to turn in the desired direction on the left and right. When the longitudinal force X, the lateral force Y, and the turning moment N as the three-direction components of the force required to be applied are given, the bow thruster 3 should be out of order among the thrusters 2a, 2b or 3 In the y-axis direction using the above equation (11), the x-axis direction components T ₁ and T _{3 of the} thrust to be generated by the swivel thrusters 2a and 2b on the left and right sides that can be operated normally, and the y-axis direction The components can be derived as T ₂ and T ₄ . Further, when the starboard side swivel thruster 2b cannot be used due to a failure or the like, by using the above equation (12), the x axis direction of the thrust to be generated by the starboard side swivel thruster 2a capable of normal operation and The components T ₁ and T _{2 in the} y-axis direction and the thrust F _b to be generated by the bow raster 3 can be derived. Further, when the port-side swivel thruster 2a cannot be used due to a failure or the like, by using the above equation (13), the x-axis direction of the thrust to be generated by the starboard-side swivel thruster 2b capable of normal operation and The components T ₃ and T _{4 in the} y-axis direction and the thrust F _b to be generated by the bow raster 3 can be derived.

  Next, a specific configuration of a thrust control method and apparatus for a biaxial ship having a bow thruster and a turning thruster according to the present invention will be described.

  As shown in FIG. 2, the thrust control device of the present invention includes a joystick lever 4 for manual boat maneuvering, and controls the operation direction and the operation amount of the joystick lever 4 with respect to a biaxial ship having a bow thruster and a swivel thruster. It is required to act on the hull 1 in order to move it in the desired direction of front / rear, left / right and diagonal directions at the desired moving speed, and to turn it in the desired left / right direction at the desired turning speed. The operation amount / required force converter 5 is provided so that it can be converted into an output force and a turning moment and output. The joystick lever 4 may be either of a type having a rotatable grip portion for operating the turning of a biaxial ship having a bow thruster and a turning thruster, or a type having a turning dial.

  In addition, in order to perform automatic maneuvering, if the ship position and direction desired to reach a biaxial ship having a bow thruster and a swivel thruster are set in advance, the difference between the set ship position and setting direction and the actual ship position and heading is calculated. An autopilot 6 having a function of outputting a force and a turning moment required to be applied to the hull 1 in order to reach the set ship position and set direction by feedback is provided.

  Further, either an output signal of the manipulated variable / required force converter 5 or an output signal of the autopilot 6 is used to start manual or automatic maneuvering of a biaxial ship having the bow thruster and the turning thruster. An input switching unit 7 for switching one of them to be input to the control device 8 is provided, and a control unit 8 is provided on the downstream side of the input switching unit 7.

The control unit 8 receives information about the force and turning moment required to be applied to the hull 1 from the operation amount / required force converter 5 or the autopilot 6 via the input switching unit 7. Then, according to the control procedure of step 2 (S2) to step 8 (S8) in FIG. 1 described later, the longitudinal force X, which is the x-axis direction component on the hull fixed coordinates of the force required to be applied to the hull 1 On the basis of the lateral force Y that is the y-axis direction component and the required three-direction component of the turning moment N, the above formulas (4), (10), (11), (12), (13 ), The x-axis direction components T ₁ , T ₃ and the y-axis direction components T ₂ , T _{4 of the} thrust to be generated by the left and right swivel thrusters 2 a and 2 b, and the bow thruster 3, respectively. And the thrust F _b to be generated You can ask for it.

A thrust calculation / swing angle command unit 9 is provided on the downstream side of the control unit 8. The thrust calculation / swing angle command unit 9 uses the components T ₁ and T ₂ in the x-axis direction and the y-axis direction of the thrust to be generated by the port-side swivel thruster 2 a obtained by the control unit 8. In addition, the port thrust thrust _TL required to be generated by the port side swivel thruster 2a using the above-described equations (5) and (6), and the swinging of the port side swivel thruster 2a the angle theta _R are as computed. Similarly, based on the components T ₃ and T ₄ in the x-axis direction and y-axis direction of the thrust to be generated by the starboard-side swivel thruster 2b obtained by the control unit 8, (7) as for calculating the starboard thrust T _R that is required to be generated by said right broadside of pivoting thruster 2b, and swing angle theta _R of the turning thrusters 2b of the right broadside using formulas and (8) It is. Furthermore,該推force calculation and swing angle command unit 9, a port thrust T _L and starboard thrust T _R to be generated at the turning thrusters 2a and 2b of the right and left broadside obtained as described above, the control unit the thrust F _b of the bow thruster 3 obtained in 8, are to have a function of providing a thrust command c1 to thrust and rotational speed transducer 10 which is provided on the downstream side. Furthermore, the command c2 of the swing angle theta _L of pivoting thruster 2a of the port side obtained as described above, the port main nose swing angle controller 11a for controlling the swing angle of the swing-thruster 2a of the port side also commands the swing angle theta _R of the turning thrusters 2b starboard determined as described above, to the starboard main nose swing angle controller 11b for controlling the swing angle of the starboard side of the pivoting thruster 2b, Each has a function to emit.

The thrust and rotational speed converter 10 includes a port thrust T _L and starboard thrust T _R to be generated respectively by the swirl thruster 2a and 2b of the right and left broadside obtained in the thrust calculation and swing angle command unit 9 When thrust command c1 relates thrust F _b to be generated by the bow thruster 3 are input, respective thrust T _L, T _R, the rotational speed of the port side of the pivoting thruster 2a which is required to obtain the F _b Then, the rotation speed of the starboard-side swivel thruster 2b and the rotation speed of the bow thruster 3 are respectively calculated. Thereafter, the rotational speed calculation results for the thrusters 2a, 2b, and 3 are set as rotational speed commands c4, c5, and c6, and the port side main engine (not shown) that drives the port side swivel thruster 2a. A starboard main machine controller 12a that controls the operation of the starboard side, a starboard main machine controller 12b that controls the operation of the starboard side main machine (not shown) that drives the starboard side turning thruster 2b, and a bow thruster that controls the operation of the bow thruster 3. Each can be given to the controller 13.

  When implementing the thrust control method for a biaxial ship having a bow thruster and a swivel thruster according to the present invention using the thrust control device having the above-described configuration, the thrust control device is performed according to the procedure shown in the flow chart of FIG.

  That is, first, the input switching unit 7 is operated to the operation amount / required force converter 5 connected to the joystick lever 4 when performing manual maneuvering. Switch to 6 side and move the biaxial ship with bow thruster and swivel thruster output from either one at the desired moving speed in the forward / backward, left / right and diagonal directions while maintaining the heading Information on the force and the turning moment required to be applied to the hull 1 is input to the control unit 8 in order to make it turn or turn in the desired direction in the left and right directions (step 1: S1).

  Next, the control unit 8 performs the operations shown in Step 2 (S2) to Step 8 (S8) in FIG. Specifically, first, when information on the force and rotational moment required to act on the hull 1 is input to the control unit 8, the x-axis direction component on the hull fixed coordinates of the required force is input. As the longitudinal force X, the lateral force Y as the y-axis direction component, and the required rotational moment N are obtained (step 2: S2).

  Next, the right and left swivel thrusters 2a and 2b and the bow thruster 3 installed in the hull 1 are all in a normal operating state, or one of the thrusters 2a, 2b and 3 has failed. It is determined whether or not it is an abnormal state that cannot be used (step 3: S3).

Next, when it is determined in step 3 (S3) that each thruster 2a, 2b, 3 can be operated normally, the longitudinal force X obtained in step 2 (S2) and the lateral force X are calculated. and force Y, based on the turning moment N, using the aforementioned equation (4), to be outputted and the thrust F _b to be output at the bow thruster 3 at left and right broadside of pivoting thruster 2a and 2b The x-axis direction components T ₁ and T ₃ and the y-axis direction components T ₂ and T _{4 of the} thrust are calculated (step 4: S4).

Next, it is determined whether or not the thrust F _b of the bow thruster 3 obtained in step 4 (S4) has reached saturation (± F _b max) (step 5: S5). , the program proceeds to a step 8 (S8), each thrust calculated in the step 4 (S4), i.e., the thrust F _b of the bow thruster 3, the thrust of the port side of the pivoting thruster 2a x-axis direction and y The axial components T ₁ and T ₂ and the x-axis and y-axis components T ₃ and T ₄ of the thrust of the starboard side swivel thruster 2 b are output to the thrust calculation / swing angle command unit 9. To do.

On the other hand, if it is determined in step 5 (S5) that the thrust F _{b of the} bow thruster 3 obtained in step 4 (S4) has reached saturation (± F _b max), step 6 Proceeding to (S6), under the condition that the thrust F _b of the bow thruster 3 is set as F _b = ± F _b max, the above equation (10) is used instead of the above equation (4), and the port side each of the x-axis direction and the y-axis components T ₁ and T ₂ of the direction of thrust to be output by the swivel thruster 2a, the starboard side of the pivoting thrust to be output by the thruster 2b x-axis and y-axis directions Recalculate for components T ₃ and T ₄ . Thereafter, the process proceeds to step 8 (S8), and the thrusts F _b (F _b = ± F _b max), T ₁ , T ₂ , T ₃ , T ₄ obtained by the above formula (10) are converted into thrusts. Output to the calculation / swing angle command section 9.

  Further, when it is determined in step 3 (S3) that either the left and right swivel thrusters 2a or 2b or the bow thruster 3 is in an unusable state due to a failure or the like, step 7 (S7) If the thruster that cannot be used is the bow thruster 3, use the above equation (11) instead of the above equation (1), and if the starboard side swivel thruster 2b cannot be used, If the port-side swivel thruster 2a cannot be used using the equation (12), the longitudinal force X obtained in step 2 (S2) and the above-described equation (13) are used. Based on the lateral force Y and the turning moment N, the thrust to be output is calculated for each of the two thrusters capable of normal operation. Thereafter, the process proceeds to step 8 (S8), and the thrust calculation results obtained for the two thrusters capable of normal operation in step 7 (S7) are output to the thrust calculation / swing angle command unit 9. To do.

Thereafter, in the thrust calculation / swing angle command unit 9, when the values of the thrusts F _b , T ₁ , T ₂ , T ₃ , T ₄ are input from the control unit 8, the thrusts T ₁ and T ₂ are input. Based on the above value, the port thrust thrust _TL required for the port-side swivel thruster 2a and the swing angle of the port-side swivel thruster 2a are calculated using the above equations (5) and (6). θ _L is calculated. Similarly, based on the value of the thrust T ₃ and T _4, using the above equation (7) and (8), the starboard thrust T that can be generated at the starboard side of the pivoting thruster 2b is required and _R, so as to calculate the swing angle theta _R of the turning thrusters 2b of the right broadside (step 9: S9). Furthermore, the該推force calculation and swing angle command unit 9, the port thrust T _L and starboard thrust T _R left to be generated at both broadside of pivoting thruster 2a and 2b obtained as described above, the control unit Along with the thrust F _b of the bow thruster 3 obtained in 8, it is given to the thrust / rotation speed converter 10 as a thrust command c 1. On the other hand, the respective swing angles θ _L and θ _R obtained for the port side and starboard side swivel thrusters 2a and 2b are respectively swung to the port side main unit swing angle controller 11a and the starboard side main unit swing angle controller 11b. The angle commands c2 and c3 are given (step 10: S10).

When the thrust command c1 is input from the thrust calculation / swing angle command unit 9, the thrust / rotation speed converter 10 obtains the port thrust _TL required for the port-side swivel thruster 2a. the rotation speed of the port side of the pivoting thruster 2a required, the rotational speed of the starboard side of the pivoting thruster 2b which is required to obtain the starboard thrust T _R that is required on the starboard side of the pivoting thruster 2b When, after obtaining respectively the rotational speed of the bow thruster 3 required to obtain a thrust force F _b, which is required for the bow thruster 3 (step 11: S11), the calculated value of the respective rotational speed, port main engine controller 12a, the starboard main machine controller 12b, and the bow raster controller 13 are supplied as the rotation speed commands c4, c5, and c6, respectively (step 12: S12).

As described above, the swivel thrusters 2a and 2b on the starboard side and starboard side have the swing angles θ _L and θ corresponding to the swing angle commands c2 and c3 input from the thrust calculation / swing angle command unit 9, respectively. _In a state where the vehicle is turned to _R , the engine is operated at the rotation speeds corresponding to the rotation speed commands c4 and c5 input from the thrust / rotation speed converter 10, respectively. The bow raster 3 is also operated at a rotational speed corresponding to the rotational speed command c6 input from the thrust / rotational speed converter 10. Therefore, the bow raster 3 can generate the bow raster thrust F _b similar to the calculated value of the bow raster thrust F _b in the controller 8. Further, the port side of the pivoting thruster 2a, it is possible to generate a resolvable port thrust T _L in the x-axis direction component T ₁ and y-axis direction component T ₂ calculated by the control unit 8, similarly in starboard pivotal thruster 2b, it is possible to generate a resolvable starboard thrust T _R in the x-axis direction component T ₃ and the y-axis direction component T ₄ calculated by the control unit 8. Therefore, the hull 1 of the biaxial ship having the bow thruster and the swivel thruster can be moved at a desired moving speed in the desired direction of front / rear, left / right, and oblique directions while maintaining the heading direction. The longitudinal force X, the lateral force Y, and the longitudinal force X, the lateral force Y, and the turning moment N that are required to be applied to the hull 1 in order to turn in the desired direction at the desired turning speed, Can act. Moreover, when the longitudinal force X, the lateral force Y, and the turning moment N required to be applied to the hull 1 are given, the rotational speed of the bow thruster 3 and the swinging thrusters 2a and 2b on the left and right sides are swung. Since the angles θ _L and θ _R and the respective rotation speeds can be uniquely derived, a control system of one input and one output system can be constructed. As a result, the bow thruster and the swivel thruster can be used in either case where manual maneuvering is performed by operating the joystick lever 4 or automatic maneuvering is performed in accordance with a preset ship position and orientation set in advance by the autopilot. A biaxial ship with a heading can be moved in the desired direction of front / rear, left / right and diagonal directions while maintaining the heading, and at the desired turning speed in the right / left direction. To be able to.

Thus, according to the thrust control method and apparatus for a biaxial ship having a bow thruster and a swivel thruster according to the present invention, the geometric characteristics of the swivel thrusters 2a and 2b on the left and right sides and the bow thruster 3 on the fixed coordinates of the hull. Based on the arrangement, (F _b , T ₁ , T ₂ , T ₃ , T ₄ ) ^t having the thrusts of the bow thruster 3 and the swivel thrusters 2a, 2b on the left and right sides as elements, and the thrusts F _b , T ₁ , T ₂ , T ₃ , T ₄ determinant (X, Y, N) determinant showing the transmission of (X, Y, N) ^t with longitudinal force X, lateral force Y, and turning moment N applied to the hull 1 In order to make the biaxial ship having the bow thruster and the swivel thruster perform the desired movement by using the equation (4) obtained by solving the inverse problem of the equation (1) by the minimum right transformation. Longitudinal force X and lateral force Y required to act on the hull 1 Based on three variables turning moment N, thrust _{F b} of the bow thruster 3 is a five unknowns, the thrust _T 1 of the respective left and right broadside of pivoting thruster 2a and 2b, _{T 2} and _T 3, _{T 4} Can be calculated uniquely. Therefore, since a control system of one input and one output system can be constructed for each of the three direction components of the longitudinal force X, lateral force Y, and turning moment N, the biaxial ship having the bow thruster and the swivel thruster can be used as a joystick lever. 5 can be used for maneuvering. Furthermore, when operating the joystick lever 4 or maneuvering based on a preset ship position and orientation set in advance for the autopilot, the desired movement for the biaxial ship having the bow thruster and the swivel thruster, and Even if there is a deviation in the actual movement, the longitudinal force X, the lateral force Y, and the turning moment N that are required to be applied to the hull can be individually feedback-controlled. Can be easily corrected, and controllability can be improved.

Further, the value of the bow thruster thrust F _b in the elements of the matrix of the equation (1), rather than the unknowns, under the conditions the maximum thrust and made constant _{(F b = ± F b max} ), performs the minimum right conversion Since the equation (10) obtained in advance is provided in advance, the longitudinal force X and the lateral force that are required to be applied to the hull 1 in order to cause the biaxial ship having a bow thruster and a swivel thruster to perform desired movements. Y, based on the turning moment N, if the thrust _{F b} of the bow thruster 3 calculated by equation (4) reaches saturation, maximum thrust thrust _{F b} of the bow thruster _{3 (F b = ± F b} max ) The thrusts T ₁ , T ₂ and T ₃ , T ₄ required to be output by the swivel thrusters 2a and 2b on the left and right sides are easily obtained using the above equation (10). To ask for It can be.

  Furthermore, similarly to the equation (11) obtained by solving the minimum right transformation from the elements of the matrix of the equation (1) except the terms related to the bow thruster 3, it is related to the starboard side swivel thruster 2b. Equation (12) obtained by solving the minimum right transformation excluding the term to be obtained and Equation (13) obtained by solving the minimum right transformation excluding the term related to the port side swivel thruster 2a Therefore, even if one of the bow thruster 3, starboard side swivel thruster 2b, and port side swivel thruster 2a cannot be used, the biaxial ship having the bow thruster and the swivel thruster is used. Appropriate and reliable distribution of the longitudinal force X, the lateral force Y, and the turning moment N that are required to be applied to the hull 1 in order to perform the desired movement, to the thrust of the two thrusters that can be operated normally. it can. Therefore, even if any one of the bow thruster 3, starboard side swivel thruster 2b, and port side swivel thruster 2a is unusable due to a failure or the like, instead of the above equation (4), By using any one of the above formulas (11), (12), and (13) obtained by removing the terms related to the unusable thrusters in advance, it is possible to take immediate action.

  Furthermore, as described above, in the control method for a biaxial ship having a bow thruster and a turning thruster according to the present invention, the control system can be simplified to a one-input one-output system. Even a control system based on a control algorithm can be effective in controlling a complex multi-input multi-output system.

  The present invention is not limited to the above-described embodiment, and a manual voyage via the joystick 4 and an automatic voyage by the autopilot 6 are shown. This type is designed to perform forward / backward, left / right, diagonal movement, and left / right turn in a state where the heading is maintained only by either manual maneuvering via an automatic pilot or automatic maneuvering by the autopilot 6. Of course, the present invention can be applied to a biaxial ship having a bow thruster and a swivel thruster, and various modifications can be made without departing from the scope of the present invention.

FIG. 2 is a diagram illustrating a control operation flow according to an embodiment of a thrust control method and apparatus for a biaxial ship having a bow thruster and a turning thruster according to the present invention. It is a figure which shows the outline | summary of the apparatus structure used for implementation of the thrust control method of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Hull 2a, 2b Swivel thruster 3 Bow thruster 8 Control part X Longitudinal force Y Lateral force N Turning moment T ₁ X-axis direction component of thrust of port side swivel thruster T ₂ Y axis of thrust of port side swivel thruster direction component T ₃ starboard pivotal thrust in the y-axis direction component F _b bow thruster thrust of pivoting thrusters x-axis direction component T ₄ starboard thrust of thrusters

Claims (5)

Based on the geometrical layout of the left and right swivel thrusters and the bow thruster on the hull fixed coordinates of a biaxial ship with a bow thruster and a swivel thruster, the thrust of the bow thruster and the thrust of the swivel thruster on the left and right sides Conditions in which the thrust of the bow thruster is fixed to the maximum thrust value in addition to the determinants that indicate the transmission of the components in the x-axis direction and y-axis direction and the longitudinal force, lateral force, and turning force that each thrust gives to the hull. Under saturation of the bow thruster indicating the transmission of the thrust thrust thrust force on the left and right sides of the swivel thruster in the x-axis direction and y-axis direction and the longitudinal force, lateral force, and turning moment that the thrust exerts on the hull. to previously obtain the determinant of use, or a biaxial ship having the bow thruster and the turning thrusters, longitudinal while keeping holding the heading, left and right, are moved at a moving speed of the desired direction of the desired oblique direction When a longitudinal force, lateral force, and turning moment are applied as the three-way components of the force required to be applied to the hull in order to turn it to the right and left desired directions at the desired turning speed, it acts on the hull. Based on the longitudinal force, lateral force, and turning moment that are required to be generated, the thrust that should be generated by the bow thruster using the formula obtained by solving the inverse problem of the former determinant by the minimum right transformation, Each component in the x-axis direction and y-axis direction of the thrust that should be generated by the swivel thrusters on both sides is obtained. At this time, if the thrust that should be generated by the bow thruster reaches saturation, it is generated by the bow thruster. The thrust to be generated is fixed at the maximum thrust, and the left and right swivel thrusters are used to solve the inverse problem of the bow thruster saturation matrix equation by the minimum right transformation. Bow thruster and the thrust control method of biaxial ship with pivoting thruster, characterized in that is to recalculate the x-axis direction and the component in the y-axis direction of the thrust to be generated. In addition to the determinant that shows the transmission of the thrust of the bow thruster, the components in the x-axis direction and y-axis direction of the thrust of the swivel thrusters on both sides, and the longitudinal force, lateral force, and turning moment that each thrust gives to the hull Instead of obtaining the determinant for saturation of the bow raster, in addition to the above determinant , the determinant for when the bow raster is not used is obtained by removing the relevant term of the bow raster from the determinant, When the bow thruster cannot be used, an equation that solves the inverse problem of the matrix equation when the bow thruster is not used is solved by the minimum right transformation based on the longitudinal force, lateral force, and turning force required to act on the hull. used, biaxial ship having a bow thruster and pivoting thruster of claim 1 Symbol placement to determine a x-axis direction and the component in the y-axis direction of the thrust to be generated respectively by the swirl thruster left and right broadside Thrust control method. In addition to the determinant that shows the transmission of the thrust of the bow thruster, the components in the x-axis direction and y-axis direction of the thrust of the swivel thrusters on both sides, and the longitudinal force, lateral force, and turning moment that each thrust gives to the hull In addition to obtaining the determinant for the saturation of the bow thruster, in addition to the above determinant , when the starboard side swivel thruster is not used, the related terms of the starboard side swivel thruster are excluded from the determinant. If the starboard-side swivel thruster cannot be used, the starboard-side swivel thruster is calculated based on the longitudinal force, lateral force, and turning moment required to act on the hull. Using the formula obtained by solving the inverse problem of the unused determinant by the minimum right transformation, each of the thrust to be generated by the bow thruster and the thrust to be generated by the port side swivel thruster in the x-axis direction and the y-axis direction As the component is calculated Thrust control method of biaxial ship having a bow thruster and pivoting thruster of claim 1 Symbol placement that. In addition to the determinant that shows the transmission of the thrust of the bow thruster, the components in the x-axis direction and y-axis direction of the thrust of the swivel thrusters on both sides, and the longitudinal force, lateral force, and turning moment that each thrust gives to the hull In addition to obtaining the determinant for the saturation of the bow thruster, in addition to the above determinant , when the port side swivel thruster is not used, excluding the related terms of the swivel thruster on the starboard side from the determinant If the port side swivel thruster cannot be used, the port side swivel thruster is calculated based on the longitudinal force, lateral force, and turning force required to act on the hull. Using the formula obtained by solving the inverse problem of the unused determinant by the minimum right transformation, the thrust to be generated by the bow thruster and the thrust to be generated by the starboard side turning thruster in the x-axis direction and the y-axis direction As the component is calculated Thrust control method of biaxial ship having a bow thruster and pivoting thruster of claim 1 Symbol placement that. A biaxial ship with a bow thruster and a swivel thruster is moved in the desired direction of front / rear, left / right and diagonal directions while maintaining the heading direction, or at the desired turning speed in the left / right desired direction. On the hull fixed coordinates of a biaxial ship having a bow thruster and a swivel thruster, and a device for giving longitudinal force, lateral force, turning moment as three direction components of force required to act on the hull for turning The thrust of the bow thruster based on the geometrical arrangement of the swivel thrusters and bow thrusters on both the left and right sides in FIG. 5, the x-axis and y-axis components of the thrust of the swivel thrusters on the left and right sides, and the thrusts There longitudinal force applied to the hull, the lateral force, in addition to the determinant indicating the transmission of a turning moment, under conditions with a fixed thrust bow thruster on the value of the maximum thrust, the turning of the left and right broadside Determining a determinant for the bow thruster saturation indicating each component of the thrust of the thruster in the x-axis direction and the y-axis direction, and the longitudinal force, lateral force, and turning moment that the thrust exerts on the hull. In addition to the determinant that shows the transmission of the thrust of the bow thruster, the components in the x-axis direction and y-axis direction of the thrust of the swivel thrusters on both sides, and the longitudinal force, lateral force, and turning moment that each thrust gives to the hull A determinant for when the bow thruster is not used from which the related term of the bow raster is removed from the determinant, a determinant for when the starboard side swivel thruster is not used, excluding the related term of the starboard side swivel thruster, keep seeking port side of the pivoting thruster Related terms excluding the determinant of the port side pivoting thruster nonuse for time, the inverse problem of the matrix equation using either equation obtained by solving the minimum right conversion The ship given by the above device From the longitudinal force, the lateral force, and the turning moment required to act on the thrust, the thrust to be generated by the bow thruster and the thrust to be generated by the swivel thrusters on the left and right sides, respectively, in the x-axis direction and the y-axis direction A thrust control device for a biaxial ship having a bow thruster and a swivel thruster, characterized in that it has a configuration comprising a control unit that obtains each of the components.

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