JPH0664589A - Ship position automatic holding method - Google Patents

Abstract

PURPOSE:To hold a ship in the specified position by generating thrust appropri ately by a bow thruster in addition to thrust for moving a stern laterally on the spot, and controlling two rudders and a bow thruster by signals from other ship position measuring devices. CONSTITUTION:When a hull is shifted from the specified object position or attitude by the action of external force on the hull, a ship position difference computing device 13 detects and computes the shift grade, speed and acceleration. A ship position setting control indicator 8 controls the rotating positions of two rudders 17, the rotating speed (or blade pitch quantity) of a propeller 16, and/or the discharge direction and rotating speed (or pitch quantity) of a bow thruster 9 through a steering angle control computing element 6 and a bow thruster controller 10 in such a way as to put this shift swiftly back into the original specified position or attitude.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for automatically maintaining the position of a ship.

[0002]

2. Description of the Related Art Conventionally, a system for automatically maintaining the position of a ship includes a propeller propeller for moving the hull straight forward and backward, a bow thruster for moving the bow part left and right, and a stern thruster for moving the stern part left and right. Made of.
The reason why this stern thruster is required is that the propeller propulsion device and the rudder do not have the function of moving the stern part to the left and right.

When an external force acts on the hull and the position of the hull deviates from a predetermined position set in advance, another ship position measuring device detects the deviation and moves the hull to a predetermined set position. For returning, a control signal for actuating the propeller propulsion device, the bow thruster or the stern thruster is provided.

[0004]

The combination of an ordinary rudder and a propeller propulsion device does not have a function of moving the stern part left and right without moving the hull in the front-rear direction. The stern thruster is inevitably needed to hold.

Generally, the engine room of a ship is provided in the stern part, and a stern thruster device having a relatively large output must be installed in a narrow engine room in the stern part, and from the starboard side of the hull to the stern thruster device. In addition to the need to guide a large waterway, which significantly increases the equipment cost,
There has been a problem that the cost increases due to the need to expand the space of the engine room, and that the stern thruster is added as a control element, which complicates the control.

Further, since it is necessary to quickly change the forward and backward movement directions of the hull in order to maintain the ship position, a variable pitch propeller is often adopted as a propeller propeller,
There was a problem that the equipment cost for this purpose was extremely high.

SUMMARY OF THE INVENTION The present invention solves the above problems and provides a method for automatically maintaining the ship's position in which a stern thruster is not required and a propeller propeller is of a fixed pit type with forward unidirectional operation. To aim.

[0008]

SUMMARY OF THE INVENTION In order to solve the above problems, the present invention provides two high-lift rudders with a fixed geometric cross-section behind one forward unidirectional actuated propeller thruster. By appropriately arranging the rotational positions of the two rudders in a state in which the propeller propeller is operated,
Thrust that moves the hull in the forward direction, thrust that turns the hull to the left and right while moving forward, thrust that moves the hull in the backward direction, thrust that turns the hull to the left and right while moving backward, thrust that keeps the hull in place, and stern To generate the thrust to move in the left and right direction on the spot, and to appropriately generate the thrust by the bow thruster in addition to the thrust, and control the two rudders and the bow thruster by the signal from another ship position measuring device. In this configuration, the ship is held at a predetermined position.

[0009]

With the above-mentioned structure, a thrust having a vector of 360 ° in the entire circumferential direction can be generated at the stern part by the combination of the propeller propeller and the two rudders, which is necessary for maintaining the ship position. It is possible to move the hull forward and backward and move the stern laterally, eliminating the need for a stern thruster.

Since there is only one control element for the combination of the rotational positions of the two rudders, it is almost the same as the control element for the conventional rudder. Therefore, the control of the stern thruster becomes simpler than that of the conventional stern keeping system because there is no control element for the stern thruster.

Since the forward and backward switching of the hull is controlled by controlling the rotational positions of the two rudders, it is not necessary to switch the direction of the propeller propulsion device, and the variable pitch propeller is capable of quick switching of the propeller propulsion device. There is no need.

As described above, the equipment cost can be remarkably reduced, and the control can be made simpler than before.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. In FIG. 1, the hydraulic power unit controllers 3 and 4 of the steering gears 1 and 2 on both sides are connected to a steering gear controller 5, and the steering gear controller 5 controls the steering angle control calculators 6 and X, Y
It is connected to a ship position setting control display 8 via an axis bias controller 7. Further, a bow thruster controller 10 for controlling the bow thruster 9 is connected to the ship position setting control display 8, and the autopilot 11 and the gyro compass 12 connect the steering gear controller 5, the ship position setting control display 8 and the bow. It is connected to the thruster controller 10. Further, the ship position setting control display device 8 is connected with a ship position difference computing device 13 and a wind power tidal force detector 14, and is further connected with a rotation speed controller 15 of the main engine.

Then, as shown in FIG. 2, two high lift rudders 17 having a fixed geometric cross section are arranged behind one forward unidirectional actuating propeller propeller 16. By combining the respective rotational positions of the rudders, the propeller wake can be diverted in various directions, thereby providing the stern with thrust having a 360 ° circumferential vector.

That is, as shown in FIGS. 3A to 3F, depending on the combination of the rotational positions of the respective rudders, the immediately preceding mode, the forward left (right) turning mode, the in-situ stationary mode, the in-situ left mode. It is possible to provide each steering mode of (right) turn mode, reverse drive mode, and reverse left (right) turn mode. Moreover, the amount of these thrusts is adjusted to the intensity of the wake of the propeller propulsion device, that is, the rotational speed is adjusted in the case of a fixed pitch propeller (the blade pitch amount of the propeller is adjusted in the case of a variable pitch propeller). Try to do by.

A water channel that crosses the hull is provided below the water line of the bow, and a bow thruster 9 is provided in the water channel. When water is discharged from, for example, the starboard side by the bow thruster, a lateral thrust acting on the bow in the port direction acts due to the reaction force, and the bow moves in the port direction. (If it is discharged from the port side, the bow moves to the starboard direction.) The size of the thrust is adjusted by adjusting the rotation speed of the bow thruster or the blade pitch.

A system for measuring the position and orientation of a ship is, for example, as follows. The signal from the signal transmitter installed around the required predetermined position of the ship is received by the receiver mounted on the ship, and the position and attitude of the hull are determined from the predetermined position and attitude. At a predetermined speed and acceleration, and calculate the deviation at the original predetermined position,
In order to return to the posture, the rotational position of the two rudders, the rotational speed of the propeller propeller (or the blade pitch amount in the case of a variable pitch propeller), the discharge direction and the rotational speed of the bow thruster (or the variable pitch blade) Emits a signal for controlling the pitch amount). At that time, the force and direction of the wind and the tidal current are also measured, and the control signal is taken into consideration of their influence.

The operation of the above configuration will be described below.
Propeller propulsion device 1 when the hull is in the automatic position maintaining state
No. 6 is always operated in the forward direction, the two rudders 17 are normally set to the "in-situ stationary mode", and the bow thruster 9 is in a non-operating state.

In this "in-situ stationary mode", the wake of the propeller is diverted by the two rudders 17 toward both port sides in a direction at right angles to the center line of the hull, and these unequal reaction forces cancel each other out. Thrust does not act on the part. Further, since the bow thruster is at rest, the thrust does not act on the bow portion, and the hull remains stationary at the desired predetermined position and posture.

In this state, when an external force acts on the hull and the hull deviates from a predetermined position or posture, the ship position difference calculating device 13 detects and calculates the magnitude of the deviation, velocity and acceleration. , The steering angle control calculator 6 and the bow thruster controller 10 so that the ship position setting control display 8 can quickly return the deviation to the original predetermined position or attitude.
Via the two rotary positions of the rudder 17 and the propeller propeller 16
The rotation speed (or blade pitch amount), and / or the discharge direction and the rotation speed (or pitch amount) of the bow thruster 9 are controlled.

In this case, when it is necessary to advance the hull just before, the combination of the rotation angles of the two rudders 17 is set to the "previous advance mode". Further, when it is necessary to move the hull backward, the two rudders are in the "reverse mode" (in this mode, the propeller wake is biased toward the port side by the two rudders 17 in the forward direction of the hull. The unbalanced reaction force is offset by each other in the lateral force component, and only the backward component force remains and becomes the thrust that advances the hull immediately.)

When it is necessary to turn the hull forward while making a right (left) turn, the two rudders 17 are set to the "forward right (left) turn mode" or the two rudders 17 are used.
Is set as the "previous advance mode", and control is performed by combining this with the left (right) port discharge of the bow thruster 9. Also, if you need to turn the hull to the right (left) while moving backward,
Set the rudder 17 to "reverse right (left) turning mode" [left (right) port rudder generates reverse thrust and right (left) port rudder generates left (right) port side lateral thrust] Alternatively, the two rudders 17 are set to the “immediate travel mode”, and the control is performed by combining the left (right) port discharge of the bow thruster.

When it is necessary to keep the hull in place and move only the stern part to the left (right) port side, the two rudders 17 are moved to the "spot right (left) turning mode" [left (left) The right (left) port side thrust including the backward component is generated in the starboard rudder, the left (right) port side thrust including the forward component is generated in the right (left) port rudder, and as a result, the total force of these thrusts is
There is no thrust in the forward / backward direction, and thrust that moves the stern in the left (right) port direction occurs. ]] Also,
When it is necessary to maintain the hull in place and move only the bow to the left (right) port side, the two rudders 17 are set to the "in-situ stationary mode" and the bow thruster 9 is set to the right (left) port. Discharge.

When it is necessary to turn the hull to the right (left) around the center of the hull, the two rudder 1
7 "Spot right (left) turning mode", bow thruster 9
To the left (right) port discharge. Further, when it is necessary to move the hull parallel to the left (right) port side, the two rudders are set to "the right (left) turning mode" and the bow thruster 9 is discharged to the right (left) port. In each case, the magnitude of each thrust is the rotational speed of the propeller propulsion device 16 (or the pitch amount in the case of a variable pitch propeller) at the stern,
In the bow portion, the rotation speed of the bow thruster 9 (or the pitch amount in the case of a variable pitch) can be adjusted to be adjusted.

When adjusting the number of revolutions of the propeller propulsion device 16 (pitch amount in the case of variable pitch) and the magnitude of thrust of the bow thruster 9, the propeller propulsion device 16 is used in accordance with sea conditions, weather conditions and other conditions. The number of revolutions or pitch of the bow thruster 9 is not automatically set manually but arbitrarily set in advance, and the position control is performed only by steering the two rudders 17 and starting / stopping the thruster 9 and switching the discharge direction. It is also possible to do

In the control of the two rudders 17, each rudder 17 can be independently controlled, but a combination of predetermined rotation angles of the two rudders can be controlled by one signal. To be able to achieve.

[0027]

As described above, according to the present invention, it is possible to generate a thrust having a 360 ° omnidirectional vector in the stern by combining a propeller propulsion device and two rudders. The forward and backward movement of the hull and the lateral movement of the stern, which are required for maintaining the ship position, are possible, and the stern thruster is not required.

Since there is only one control element for the combination of the rotational positions of the two rudders, it is almost the same as the control element for the conventional rudder. Therefore, the control of the stern thruster becomes simpler than that of the conventional stern keeping system because there is no control element for the stern thruster.

Since the forward and backward switching of the hull is controlled by controlling the rotational positions of the two rudders, it is not necessary to switch the direction of the propeller propulsion device, and it is necessary to use a variable pitch propeller capable of quick switching of the propeller propulsion device. Nor.

As described above, the facility cost can be remarkably reduced and the control becomes simpler than before.

[Brief description of drawings]

FIG. 1 is a block diagram of a ship position control device according to an embodiment of the present invention.

FIG. 2 is a layout view of a propulsion device and a rudder in the same embodiment.

3A to 3F are schematic diagrams showing a steering mode in the same embodiment.

[Explanation of symbols]

 9 Bow thruster 16 Propeller propeller 17 Rudder

Claims (1)

[Claims] 1. A high lift rudder having two fixed geometric cross-sections is arranged behind one forward unidirectionally operated propeller propeller, and the two propeller propellers are operated in a state in which the propeller propeller is operated. By combining the rotating position of the rudder of
Thrust that moves the hull in the forward direction, thrust that turns the hull to the left and right while moving forward, thrust that moves the hull in the backward direction, thrust that turns the hull to the left and right while moving backward, thrust that keeps the hull in place, and stern To generate the thrust to move in the left and right direction on the spot, and to appropriately generate the thrust by the bow thruster in addition to the thrust, and control the two rudders and the bow thruster by the signal from another ship position measuring device. A method for automatically maintaining the position of a ship, characterized in that the ship is held at a predetermined position by means of a ship.