JPH08113196A - Joy stick maneuvering device - Google Patents

Abstract

PURPOSE: To provide a joy stick maneuvering device having excellent maneuvering properties and economical operability since a hull moves in the direction that the joy stick lever is brought down with the target bearing retained even under the existence of external force. CONSTITUTION: Provided are a required thrust-computing part 4 for calculating thrust for maneuvering a hull based on each signal from an operating part 1, a data input part 2, a hull position.speed detecting part 3, respectively, a thrust distributing part 5 for distributing and calculating thrust to each actuator 8, an actuator operating amt. computing part 6 for calculating the operating amt. for outputting each thrust distributed and calculated to each actuator 8, respectively, and a signal output part 7 for outputting an operating signal to each actuator 8.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a joystick marine vessel manipulating device.

[0002]

2. Description of the Related Art For example, a joystick marine vessel maneuvering apparatus for ships or marine structures equipped with a plurality of actuators such as propellers, thrusters, and rudders is such that each actuator produces thrust only in the direction in which the joystick lever is tilted. Things are known.

However, in such a device, when an external force such as a tidal current is applied to the hull, the hull does not always move in the direction in which the Joystick lever is tilted. As
It has the drawback of reducing the operating economy.

[0004]

SUMMARY OF THE INVENTION The present invention has been proposed in view of the above circumstances. Even when an external force is present, the hull moves in the direction in which the joystick lever is tilted while maintaining the target direction. Therefore, it is an object of the present invention to provide a joystick marine vessel maneuvering device excellent in marine vessel maneuverability and operating economy.

[0005]

To this end, the present invention relates to a joisting vessel maneuvering apparatus for operating a plurality of actuators mounted on a hull by an operation section having a joisting lever, wherein the operation section, the data input section, the hull position / Necessary thrust calculation unit that calculates thrust for maneuvering the hull based on each signal from each speed detection unit, Thrust distribution unit that distributes the thrust to each actuator, and distribution calculation to each actuator The actuator operation amount calculation unit that calculates the operation amount for outputting each thrust and the signal output unit that outputs the operation signal to each actuator described above, and tilt the joystick lever while maintaining the target direction. It is characterized in that the hull can be moved in the specified direction.

[0006]

According to this structure, in the joystick marine vessel manipulating apparatus for operating a plurality of actuators mounted on the hull by the operation portion having the joystick lever, each of the operation portion, the data input portion, the hull position / speed detecting portion is provided. The required thrust calculation unit that calculates the thrust for manipulating the hull based on each signal from, the thrust distribution unit that distributes the thrust to the actuators, and the thrusts that are distributed to the actuators. With an actuator operation amount calculation unit that calculates the operation amount for outputting, and a signal output unit that outputs an operation signal to each of the actuators, while maintaining the target orientation, in the direction in which the joystick lever is tilted. Since the hull can be moved as described above, each movement can be adjusted according to the current movement of the hull and the size of the deviation from the target. By controlling the thrust generated in Chiyueta, while maintaining the orientation of the target, it is possible to move the hull in a direction defeated Jiyoi States clever.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings. First, in the control block diagram of FIG. 1, 1 is an operating section for outputting a signal in a target direction θ of a ship by a joystick lever, and 2 is a proportional constant C. It is a data input unit that can output _Xi , C _Yi , C _Mi , a ship movement angle γ, and a ship azimuth target ψ ₀ . 3 is a hull position equipped on the ship, which has sensors for detecting the current position (X, Y) of the ship, the bearing ψ of the ship, the speed u of the ship in the front-rear direction, the speed v of the ship in the left-right direction, and the movement angle γ of the ship. It is a speed detector. Reference numeral 4 denotes a deviation ΔX with respect to the target in the X direction, based on signals from the operation unit 1, the data input unit 2, the hull position / speed detection unit 3, respectively.
Necessary thrust calculation for calculating deviation ΔY with respect to target in Y direction, component Δu due to longitudinal velocity u of ship, component Δv due to lateral velocity v of ship, and further calculating required thrusts F _X , F _Y , F _M It is a department.

Reference numeral 5 denotes a thrust distribution unit that calculates the thrust to be distributed to each actuator based on the output of the required thrust calculation unit 4. Reference numeral 6 denotes an actuator operation amount calculation unit that calculates the operation amount of the actuator, for example, the operation amount of the rudder angle of the rudder, the blade angle of the thruster, etc., based on the output of the thrust distribution unit 5.
A signal output unit 7 outputs an operation signal to each actuator based on the output of the actuator operation amount calculation unit 6. Reference numeral 8 denotes a plurality of actuators that are operated based on the output from the signal output unit 7 for each sampling time Δt and that are operated according to the behavior of the hull every moment to control the hull to make a predetermined movement. 9 is movement of the hull controlled by the actuator 8. 10 is movement of the operation unit 1 to the hull 9
Is a joint steering boat maneuvering device formed in cooperation with each other.

In such a device, first, as shown in FIG.
As shown in the plan view, at a certain time, the hull 11 is in the position (X, Y), the direction of the ship at this time is ψ, the speed of the ship is U, and the direction in which the Joystick lever is tilted (the target direction of the ship) Be θ. At this time, the origin (reference point) φ and the hull 1
If the angle between the dashed line connecting 1 and the target direction θ of the ship is α, then α = θ-tan ^-1 (Y / X) (1), so the position of the hull 11 (X, Y ), The length a of the perpendicular line drawn from the ship to the one-dot chain line in the target direction θ is a = (X ² + Y ² ) ^0.5 sin α ... (2).

On the other hand, when the hull 11 is moved from the current position (X, Y) in the target direction θ of the ship by the movement angle γ, the target direction θ of the ship from the position (X, Y).
The moving distance l _{o to} is l _o = a / (sin γ) (γ ≠ 0) (3) From this, the deviation Δ in the X and Y directions from the target
Obtaining X and ΔY is as follows. ΔX = l _o · cos (θ + γ) ……… (4) ΔY = l _o · sin (θ + γ) ……… (5)

Normally, when controlling the motion of the hull 11, control on position and speed deviation is performed, so control on speed will be considered. Here, in the partial plan view of FIG. 2 (B), the component ΔU of the ship speed U in the direction perpendicular to the moving distance l _o is controlled to be small, and this component ΔU is controlled.
When U is divided into a component Δu due to the longitudinal velocity u of the hull 11 and a component Δv due to the lateral velocity v, it is as follows. Δu = u · sin (θ + γ−ψ) …… (6) Δv = v · cos (θ + γ−ψ) …… (7) Using these deviation symbols ΔX, ΔY, Δu, Δv, for example, automatic In the control system, the control operation in which the amount of control deviation and the time variation thereof are added at a constant rate, that is, Pr
operational derivative act
The required thrusts (resulting forces) F _X , F _Y , and F _M are obtained by the following formulas by ion (hereinafter referred to as PD control). F _X = C _X1 · ΔX + C _X2 · Δu ……… (8) F _Y = C _Y1 · ΔY + C _Y2 · Δv ……… (9) F _M = C _M1 (ψ − ψ ₀ ) + C _M2 · r ……… (10) C _X1 , C _X2 , C _Y1 , C _Y2 , C _M1 , C _M2 : Proportional constant ψ ₀ : Target of azimuth r: Turning angular velocity Then, these values are distributed to each actuator.

That is, the magnitude of the thrust of an actuator such as a propeller, rudder, bow thruster, etc. is determined according to the magnitude of the deviation of the current position from the target, and as a result, the direction in which the joystick lever is tilted while maintaining the target orientation. The hull 11 can be laterally moved. 3 (A) and 3 (B) are plan views showing an example in which the marine vessel maneuvering performance of the joystick marine vessel maneuvering device of the present invention is examined by simulation calculation. FIG. 3 (A) and FIG. 3 (B) are respectively Shows a case in which the vehicle is tilted diagonally forward 45 ° to the right and to the side, and the actuators of the hull 11 at this time are one propeller, one rudder, and one bow thruster.

According to the apparatus of this embodiment, the operation unit, the data input unit, the position of the ship, the position of the hull position, which are operated by the operation unit having the operation lever, are used to operate a plurality of actuators mounted on the hull. A necessary thrust calculation unit that calculates a thrust for manipulating the hull based on each signal from each speed detection unit,
A thrust distribution unit that distributes and calculates the thrust to each actuator, an actuator operation amount calculation unit that calculates an operation amount for outputting each thrust calculated and distributed to each actuator, and an operation signal to each actuator. With a signal output section that outputs the, the hull can be moved in the direction in which the joystick lever is tilted while maintaining the target direction, so that the hull can be moved in accordance with the current movement of the hull and the deviation from the target. By controlling the thrust generated by each actuator, the hull can be moved in the direction in which the joystick lever is tilted while maintaining the target azimuth, thus improving the maneuverability and the operating economy.

[0014]

In summary, according to the present invention, in the joystick marine vessel manipulating apparatus for operating a plurality of actuators mounted on the hull by the operation portion having the joystick lever, the operation portion, the data input portion, the hull position / speed detecting portion are provided. A necessary thrust calculation unit that calculates the thrust for manipulating the hull based on each signal from each, and a thrust distribution unit that calculates the thrust by distributing it to each actuator.
An actuator operation amount calculation unit for calculating an operation amount for outputting each thrust calculated for each actuator, and a signal output unit for outputting an operation signal to each actuator are provided to maintain a target direction. However, by enabling the movement of the hull in the direction in which the Joystick lever is tilted, even when external force is present, the hull moves in the direction in which the Joystick lever is tilted while maintaining the target orientation, therefore, INDUSTRIAL APPLICABILITY The present invention is extremely useful industrially because it provides a stable steering ship maneuvering device that is excellent in maneuverability and operation economy.

[Brief description of drawings]

FIG. 1 is a control block diagram showing an embodiment of the present invention.

FIG. 2 shows the principle of automatic control in the joystick marine vessel manipulating apparatus 10 of FIG. 1, (A) and (B) are plan views, respectively.
FIG.

FIG. 3 is a plan view showing the results of simulating the marine vessel maneuvering performance of the joystick marine vessel maneuvering apparatus 10 of FIG. 1; and (A) and (B) of FIG.

[Explanation of symbols]

1 Operation part 2 Data input part 3 Hull position / velocity detection part 4 Required thrust calculation part 5 Thrust distribution part 6 Actuator operation amount calculation part 7 Signal output part 8 Actuator 9 Hull movement 10 Joi-stick navigation device 11 Ship a Length of vertical line C _Xi proportional constant C _Yi proportional constant C _Mi proportional constant l _o Moving distance r Turning angular velocity U Ship speed X position Y position u Front-rear speed v Left-right speed α angle γ Moving angle θ Ship target direction ψ Ship direction ΔX deviation ΔY deviation ΔU component u component φ origin

Claims (1)

[Claims] 1. A joystick marine vessel manipulating apparatus for operating a plurality of actuators mounted on a hull by means of an operation portion having a joystick lever, based on signals from the operation portion, data input portion, hull position / speed detection portion, respectively. Required thrust calculation unit for calculating thrust for maneuvering the hull, a thrust distribution unit for distributing and calculating the thrust to each of the actuators, and an operation for outputting each thrust calculated and distributed to each of the actuators. An actuator operation amount calculation unit for calculating the amount and a signal output unit for outputting an operation signal to each of the actuators are provided,
A joystick boat maneuvering device, which is capable of moving the hull in a direction in which a joystick lever is tilted while maintaining a target direction.