JPH0258156B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a steering system for a ship equipped with a thrust generating device such as a rudder, a thruster generating lateral thrust, and a propeller.

In the prior art ship control system, although an autopilot device is installed for the rudder in order to navigate the open ocean, thrust generators such as thrusters and propellers are provided with individual controllers, and can be adjusted as needed. It is customary to operate them individually. One of the important uses of such thrust generators is ship maneuvering in ports, docking and unberthing, etc., which requires slow but delicate operations, but the individual operations of the prior art are complicated. In addition, there was a problem in that the ability of the thrust generating device could not be fully demonstrated due to the lack of quick response.

The purpose of the present invention is to solve the above-mentioned technical problems,
It is an object of the present invention to provide a ship control device that allows easy ship operations such as berthing and unberthing and port maneuvering.

A control device according to an embodiment of the present invention is intended for a ship having a rudder, a thruster, a propeller, etc., and includes a thrust setter, a direction detector, a direction setter, a direction controller, a thrust distributor, and a correction rate calculator. , a thrust modifier, a stern thrust distributor, and a rudder angle controller. The thrust setting device sets the thrust. The direction detector is for detecting the direction of the ship. The azimuth setting device is for setting the azimuth of the ship. The azimuth controller is for calculating a turning moment command signal from the azimuth signal output from the azimuth detector and the azimuth command signal output from the azimuth setter. The thrust distributor inputs the composite thrust command signal output from the thrust setting device and the turning moment command signal output from the azimuth controller,
Decomposes and distributes the necessary thrust command signals to each thrust generating device. The correction rate calculator compares the thrust command signal output from the thrust distributor with the separately set permissible maximum thrust of each thrust generator, and calculates each correction rate for making corrections to each thrust command signal. , selects the correction rate that requires the largest correction among the correction rates for each thrust command signal, and outputs it as a maximum correction rate signal. The thrust modifier inputs the thrust command signal distributed to each thrust generating device from the thrust distributor, and further adjusts the thrust command signal to each thrust generating device using the maximum modification rate signal output from the modification rate calculator. In both cases, correction calculations are performed to keep the thrust within the allowable maximum thrust, and a corrected thrust command signal is output. The stern thrust distributor calculates a modified thrust command signal for the rudder from the modified thrust command signal.
The rudder angle controller calculates the rudder angle from the corrected thrust command signal for the rudder output from the stern thrust distributor and the corrected thrust command signal for the thrust generator installed in front of the rudder.

FIG. 1 shows a ship equipped with the control device of the present invention, in which a hull 100 is equipped with a bow thruster 101 as a thrust generating device, a starboard propeller 102, a port propeller 103, and a stern thruster 104, and a starboard rudder 105 as a rudder. , port rudder 10
Equip 6. The control device 107 provides command signals to each of the thrust generating devices and the rudder. Note that each of the thrust generating devices is driven at a constant rotation speed, and the generated thrust is controlled by changing the blade angle.

FIG. 2 is a block diagram of the control device 107.
The thrust setting device 1 includes an X-axis setting device 11 that commands a component X of the composite thrust in the direction of the hull centerline, and a Y-axis setting device 12 that commands the component Y of the composite thrust in a direction orthogonal to the hull centerline. In the direction controller 33,
The azimuth signal θc from the azimuth detector 31 and the azimuth command signal θs from the azimuth setter 32 are compared, calculations such as proportionality, differentiation, and integration are performed, and a turning moment command signal N is output. The thrust distributor 4 includes
A composite thrust command signal X commanded by the thrust setting device 1,
Y is input via lines l1 and l2, respectively, and a turning moment command signal N from the azimuth controller 33 is input via line l3. The thrust distributor 4 sends a thrust command signal t2 to the starboard propeller 102 and a thrust command signal t2 to the port propeller 103 by performing appropriate calculations according to the operation and stop of each thrust generating device.
The sum of the thrust command signal t3 and the thrust command signal t3 is the composite thrust command signal
is equal to the thrust command signal to the bow thruster 101
t1, as well as stern thruster 104 and starboard rudder 1
05 and the thrust command signal t4 to the port rudder 106 is equal to the composite thrust command signal Y, and each thrust generator and rudder receive thrust command signals t1, t2, t3, t4.
The thrust force command signals t1 to t4 are outputted so that the sum of the turning moments generated when a thrust commensurate with the above is generated is equal to the turning moment command signal N.

The thrust command signal t1 calculated by the thrust distributor 4 is
is input to the thrust modifier 61 via line l4,
Thrust command signal t2 is input to thrust modifier 62 via line l5. Thrust command signal t3 is on line l6
The thrust command signal t4 is input to the thrust modifier 64 via line l7. The thrust command signals t1 to t4 are also input to the correction rate calculator 5.

The modification rate calculator 5 calculates a maximum thrust modification rate signal ξ using various calculators to be described later.

In the thrust modifiers 61 to 64, by multiplying the thrust command signals t1 to t4 by the maximum thrust modification rate signal ξ, modified thrust command signals 1 to 4 (ξt1 ~ξt4)
Output. The modified thrust command signal 1 is input to the thrust controller 71 via line l8, and the modified thrust command signal 2 is input to the thrust controller 72 via line l9. Also, the modified thrust command signal 3 is on the line l
It is input to the thrust controller 73 via 10. Among the modified thrust command signals 1 to 4, the modified thrust command signal 4 for the stern thruster 104, starboard rudder 105, and port rudder 106 is further inputted to the stern thrust distributor 8, and is used as the modified thrust command signal 41 for the stern thruster 104. The corrected thrust command signal 42 is outputted separately to the starboard rudder 105 and the port rudder 106.

Thrust controllers 71 to 74 include a bow thruster 101, a starboard propeller 102, and a port propeller 1, respectively.
03 and the thrust of the stern thruster 104. In the thrust controller 71, the bow thruster 10
A modified thrust command signal 1 to 1 is input, and a blade angle command signal θ1 is output to the bow thruster 101 via line l12 so as to generate a thrust corresponding to 1.
Similarly, in the thrust controller 72, the starboard propeller 102
Input the modified thrust command signal 2 to the starboard propeller 102 and send the blade angle command signal θ2 to the starboard propeller 102 via line l13.
Output to. The thrust controller 73 inputs a modified thrust command signal 3 to the port propeller 103, and outputs a blade angle command signal θ3 to the port propeller 103 via a line l14. In the thrust controller 74, the corrected thrust command signal 41 distributed to the stern thruster 104 by the stern thrust distributor 8 is inputted via the line l11, and the blade angle command signal θ4 is inputted to the line 11 so as to generate a thrust commensurate with the thrust command signal 41. It is output to the stern thruster 104 via l15.

The rudder angle controller 9 sends a rudder angle command signal θ5 through a line l16 so that a force in a direction perpendicular to the hull centerline that corresponds to the corrected thrust command signal 42 inputted through a line l20 acts on the rudder. Starboard rudder 105
A rudder angle command signal θ6 is output to the port rudder 106 via line l17.

By the way, the force acting on the rudder is affected not only by the rudder angle but also by the propeller placed in front of the rudder.
A corrected thrust command signal 2 to the port propeller 103 is inputted via line l19, a corrected thrust command signal 3 to the port propeller 103 is inputted via line l18, and the steering angle command signal θ5 and Calculate θ6.

In the bow thruster 101, a blade angle command signal θ1 outputted from the thrust controller 71 via line l12
is input and the blade angle of the bow thruster 101 is controlled to a value commensurate with the blade angle command signal θ1, thereby generating a thrust commensurate with the modified thrust command signal 1 for the bow thruster 101 and applying it to the hull. Similarly, the starboard propeller 102, the port propeller 103, the stern thruster 104, the starboard rudder 105, and the port rudder 10
6 gives the hull a thrust commensurate with the corresponding modified thrust command signal.

Next, the thrust distributor 4 will be explained. In the distribution of the thrust command signal by the thrust distributor 4, as described above, the sum of the thrust command values in the direction of the hull centerline is the composite thrust command signal X, and the sum of the components in the direction perpendicular to the hull centerline is the composite thrust command This is done so that the signal Y and the sum of the components contributing to the turning moment of each thrust command value are equal to the turning moment command signal N, and X, Y, and N are given based on the following equations 1 to 3. Calculates thrust command signals t1, t2, t3, and t4.

X=t2+t3...(1) Y=t1+t4...(2) N=l1t1+l2t2+l3t3+l4t4...(3) In the third equation, l1, l2, l3, and l4 are the bow thruster 101, the starboard propeller 102, and the port propeller 10.
3 and the thrust generated by the stern thruster 104 contribute to the turning moment. Note that the forces generated by the starboard rudder 105 and the port rudder 106 in the direction perpendicular to the hull centerline are added to the thrust generated by the stern thruster 104, and the thrust command value for the sum of both is set as t4.

Since the first to third equations are linear simultaneous equations with thrust command signals t1 to t4 as unknowns, the thrust command signal t1 that minimizes the sum of squares of all thrust command signals ₄ 〓 ⁱ⁼¹ ti ² , t2, t3, and t4 are given by the fourth equation using a 4×3 matrix [T].

t1 t2 t3 t4=TX Y N...(4) Bow thruster 101, starboard propeller 10
2. The thrust command signals t1 to t4 when the port propeller 103 and the stern thruster 104 are all operating normally are determined by calculation of a 4×3 matrix given in advance, that is, by equation 4.

Similarly, when some of the thrust generators are stopped, a thrust command signal t1~ that minimizes the sum of squares of the thrust command signals for the operating thrust generators is used.
Find another matrix [T′] that gives t4.

The thrust distributor 4 uses a built-in distribution ratio changer 41 to change the matrix [T] of the fourth equation according to the operation and stop signals s1 to s4 indicating the operation or stop state of each thrust generating device. The thrust command signals t1 to t4 are calculated so as to always realize the composite thrust command signals X, Y and the turning moment command signal N. Incidentally, the thrust distributor 4 distributes the thrust command signals t1 to t4 necessary to realize the composite thrust command signals X, Y and the turning moment command signal N to each thrust generator, regardless of the capacity of each thrust generator. However, when these thrust command signals exceed a predetermined allowable maximum thrust for each thrust generating device, the modification rate calculator 5 and the thrust modifiers 61 to 64 correct the thrust command signals.

The control device receives the composite thrust command signal output from the thrust setting device and the turning moment command signal output from the azimuth controller, and outputs each thrust command signal to each thrust generating device in operation. By configuring the thrust distribution calculation function of the device 4 with a matrix calculation unit, distribution calculation is performed such that the sum of squares of thrust command signals instructed to each thrust generation device is minimized.

FIG. 3 is a detailed diagram of the correction rate calculator 5. The unit setter 501 outputs a signal ξ0 (=1). The absolute value calculators 511 to 514 calculate absolute values T1 to T4 of the thrust command signals t1 to t4 distributed by the thrust distributor 4. Maximum thrust setting device 5
21 to 524 set the allowable maximum thrusts Ts1 to Ts4 for each thrust generating device. Dividers 531-53
4 calculates ξ1 to ξ4 (=Ts1/T1 to Ts4/T4). The low selector 500 includes dividers 531 to 534.
The outputs ξ1 to ξ4 and the output ξ0 of the unit setter 501
(=1), the minimum value, that is, the correction rate that requires the maximum correction, is selected, and the maximum thrust correction rate signal ξ
Output as .

Although the maximum thrust setters 521 to 524 set the allowable maximum thrust Ts1 to Ts4 of each thrust generating device, the maximum thrust setter 524 for the stern thruster 104 sets the maximum thrust for the stern thruster 1.
04, including the starboard rudder 105 and port rudder 106.

In the correction rate calculator 5, if the absolute values T1 to T4 of the thrust command signals t1 to t4 output from the thrust distributor 4 are all smaller than the allowable maximum thrust Ts1 to Ts4, the outputs ξ1 to ξ of the dividers 531 to 534 All ξ4 are greater than 1, and the low selector 500 selects ξ0 (=1) as the maximum modification rate signal ξ. Therefore, the thrust command signals t1 to t4 output from the thrust distributor 4 are not changed by the thrust modifiers 61 to 64.

However, if any of the thrust command signals t1 to t4 is larger than the corresponding maximum allowable thrust Ts1 to Ts4, for example, the thrust command signal for the bow thruster 101
If only the absolute value T1 of t1 is greater than the allowable maximum thrust Ts1, the output ξ1 of the divider 531 (=Ts1/T1)
Since ξ1<1, the low selector 500 selects ξ1 (<1) as the maximum modification rate signal ξ.
Therefore, the thrust command signals t1 to t4 output from the thrust distributor 4 are all transmitted to the corresponding thrust modifiers 61 to 6.
4, it is reduced by the same ratio ξ (=Ts1/T1). That is, the thrust modifiers 61 to 64
The absolute value of the corrected thrust command signals 1 to 4 output from is l1l= for t1 exceeding the allowable maximum thrust.
Ts1, and the other 2 to 4 are all smaller than the allowable maximum thrust Ts2 to Ts4. In this case, the thrust generated by each thrust generating device and the rudder due to the modified thrust command signals 1 to 4 is no longer commensurate with the combined thrust command signals X, Y and the turning moment command signal N. Even in such a case, the modified thrust command signals 1 to 4 are transmitted to the thrust distributor 4.
Since it is the result of multiplying the thrust command signals t1 to t4 output by a constant maximum thrust modification rate signal ξ,
It becomes as shown in the fifth equation.

tan ^-1 t1 + t4 / t2 + t3 = tan ^-1 Y / .

Thrust generating devices according to an embodiment of the present invention include a bow thruster 101, a starboard propeller 102, a port propeller 103, a stern thruster 104, and a starboard rudder 1.
05, and port rudder 106, other types of thrust generators and rudders may be used in other embodiments. In addition, in this embodiment, each thrust generating device was all designed to manipulate the generated thrust by changing the blade angle, but some devices manipulate the generated thrust by changing the rotation speed, or the rotation speed and the blade angle. A similar effect can be obtained by manipulating the generated thrust by changing both.

As described above, in the control device according to the present invention, the composite thrust generated by each thrust generator and the rudder is controlled by the modified thrust command signal, the heading of the ship is changed, and the operation exceeding the capability of any of the thrust generators is performed. In response to the above requirements, it is possible to prevent a difference between the thrust direction preset by the thrust setting device 1 and the direction of the combined thrust generated by the thrust generators and the rudder.

This control device changes the distribution ratio of each thrust command signal issued from the thrust distributor 4 to each thrust generating device based on a signal that determines whether each thrust generating device is in operation or stopped. The distribution rate changer 41 has a built-in function. By using the distribution rate changer 41, even if the number of operating thrust generators is changed, the thrust setting device 1 and the direction setting device 32 do not need to be changed in the settings, and the direction of the thrust is set in advance by the thrust setting device 1. The direction of the combined thrust generated by each thrust generating device and the rudder can always match.

Therefore, according to the present invention, in summary, the thrust value and direction from each thrust generating device are constantly corrected so that they match the thrust value and direction set in operation for ship maneuvering. This allows you to control the vehicle in a way that matches your sense of operation, and eliminates unnecessary direction and speed corrections due to errors in your sense of operation, which saves fuel and time. Note that the present invention not only combines existing mechanical, electrical, and electronic calculation elements, but also allows part or all of the calculations to be performed by an electronic computer.

[Brief explanation of the drawing]

FIG. 1 is a system diagram of a control device 107 for a ship or the like according to an embodiment of the present invention, FIG. 2 is a block diagram of a control device 107 according to an embodiment of the present invention, and FIG. FIG. 3 is a detailed block diagram. 1... Thrust setting device, 4... Thrust distributor, 5...
Correction rate calculator, 8... Stern thrust distributor, 9... Rudder angle calculator, 31... Direction detector, 32... Direction setter, 33... Direction controller, 41... Distribution rate change device, 61-64... Thrust modifier, 71-74...
Thrust controller, 107...control device.

Claims (1)

[Scope of Claims] 1. A control device for a ship having a thrust generating device such as a rudder, a thruster, and a propeller, comprising: a thrust setting device for setting thrust; a direction detector for detecting the direction of the ship; and a direction detector for detecting the direction of the ship. Necessary for receiving the azimuth setting device to be set, the azimuth signal output from the azimuth detector, and the azimuth command signal output from the azimuth setting device, and maintaining the ship in the azimuth commanded by the azimuth setting device. an azimuth controller that calculates a turning moment; a composite thrust command signal outputted from the thrust setting device and a turning moment command signal outputted from the azimuth controller; A thrust distributor that decomposes and distributes the thrust command signal into a thrust command signal, compares the thrust command signal output from the thrust distributor with the separately set allowable maximum thrust of each thrust generator and rudder, and corrects each thrust command signal. a correction rate calculator that calculates each correction rate for adding the thrust, selects the correction rate that requires the largest correction among the correction rates for each thrust command signal, and outputs the selected correction rate as a maximum thrust correction rate signal; Inputs the thrust command signal output from the distributor, and responds to the maximum thrust modification rate signal output from the modification rate calculator so that each thrust caused by each thrust command signal falls within the allowable maximum thrust. a thrust modifier that performs a correction calculation to output a modified thrust command signal, and the direction of the composite thrust based on the modified thrust command signal is the same as the direction of the composite thrust command signal set by the thrust setter; a stern thrust distributor that calculates a revised thrust command signal for the rudder from the revised thrust command signal; a revised thrust command signal for the rudder output from the stern thrust distributor; and a correction for the thrust generator installed in front of the rudder; A steering device for a ship, comprising a rudder angle controller that receives a thrust command signal, calculates a necessary rudder angle, and outputs the same. 2. The thrust distributor has a function of changing the distribution ratio of each thrust command signal issued from the thrust distributor to each thrust generating device and the rudder based on a signal that determines whether each thrust generating device is in operation or stopped. 2. The ship operating device according to claim 1, further comprising a distribution rate changer having a distribution rate changer. 3 The thrust of the thrust distributor which receives the composite thrust command signal output from the thrust setting device and the turning moment command signal output from the azimuth controller, and outputs each thrust command signal to be instructed to each thrust generating device in operation. 3. The ship operating device according to claim 1, wherein the distribution calculation function is constituted by a matrix calculation unit.