JPH092393A - Controlled thrust distributing device of navigating vessel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To control the excellent fixed point keeping by distributing the propulsion so that the oscillating angle of a propulsion generator is minimum in a navigating vessel. SOLUTION: A detector 31 in a control propulsion distributing device 22 detects the position, the speed and the azimuth of a navigating vessel 21, and transmits them to a control command calculator 33. The position, the speed and the azimuth of the 21 are set in a setting instrument 32. The control command calculator 33 calculates the total propulsion and the total moment based on the position, the speed and the azimuth of the navigating vessel 21 detected by the detector 31, and outputs them to a propulsion distributor 34. The propulsion distributor 34 generates the propulsion distribution signal to minimize the oscillating angle of the propulsion generator 23, and outputs it to a propulsion generator driving part 35. The minimum oscillating angle command value, and number of revolution command value are outputted to the propulsion generator 23 from the propulsion generator driving part 35 to control the fixed point keeping of the navigating vessel 21.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control thrust distribution device for a vehicle, which is applied to a ship, an underwater vehicle, an offshore platform, a flying vehicle, and the like.

[0002]

2. Description of the Related Art In order to maintain a fixed point at a set position on a marine vehicle such as a ship or a platform for a bridge work platform, a motion control device, that is, a thrust distribution device is generally used. ing.

[0003] Fig. 10 shows a thrust distribution device of a joystick system (a system in which a cruising body advances in a direction in which a lever is tilted). As shown in FIG.
Basically, it is composed of an actuator drive unit 1 and an actuator (thrust generator) 2. A joystick command (manual command) is given to the actuator drive unit 1. The actuator driving unit 1 drives the actuator 2 based on the joystick command. That is, the navigation body 3 is controlled to maintain the fixed point by the output from the actuator 2.

The automatic control thrust distribution device shown in FIG. 11 is composed of a PI control unit 11, an actuator drive unit 12, and an actuator (thrust generator) 13, and controls the hull 14. Do. In the device shown in the figure, position information and the like on the hull 14 are detected and compared with a target value (set position information and the like) input from the outside, and a plurality of actuators 13 are controlled so as to match the target value. The automatic control is performed to control the marine vessel 14 to maintain a fixed point.

[0005]

Problems to be Solved by the Invention FIG. 10 and FIG.
In the conventional thrust distribution device shown in FIG.
Thrust (Force command) and total moment (Mo
The actuator drive units 1 and 12 receive the command signal of the
It is desirable to perform thrust distribution so as to minimize the swing angle of thirteen. However, a thrust distribution device that satisfies such conditions has not yet been put to practical use.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and provides a thrust distribution so that a thrust angle of a thrust generator is minimized to realize an excellent fixed point holding control for a navigation body. It is an object to provide a control thrust distribution device for a body.

[0007]

According to a first aspect of the present invention, there is provided a control thrust distribution apparatus for a sailing body, comprising a plurality of thrust generators for controlling movement, for performing a fixed point holding control of the sailing body. Detector for detecting the position, speed and azimuth of the vehicle, a setter for setting the position, speed and azimuth of the vehicle, and position, speed and azimuth information output from the setter and the detector And a control command calculator for outputting a command signal of a total thrust and a total moment necessary to hold the marine vehicle at a set position and a set azimuth, and a command signal output from the control command calculator. And outputting a thrust distribution signal corresponding to each of the plurality of thrust generators so as to secure the total thrust and the total moment at a minimum swing angle in each of the plurality of thrust generators. And distributor, characterized by comprising a plurality of thrust generators driving unit for respectively driving the plurality of thrust generators based on the outputted thrust allocation signal from the thrust distributor.

According to a second aspect of the present invention, there is provided a control thrust distribution device for a sailing body which includes a plurality of thrust generators for motion control and performs a fixed point holding control of the sailing body, wherein the azimuth angle of the sailing body is detected. A detector, a setting device for setting an azimuth angle of the aircraft,
A control command calculator for comparing the azimuth information output from the setter and the detector to output a command signal of a total moment necessary to hold the marine vessel at the set angle; Based on a command signal output from the thruster, outputting a thrust distribution signal corresponding to each of the plurality of thrust generators so as to secure the total moment at a minimum swing angle in each of the plurality of thrust generators And a plurality of thrust generator drive units for driving the plurality of thrust generators based on the thrust distribution signal output from the thrust distributor.

According to a third aspect of the present invention, there is provided a control thrust distribution apparatus for a navigation body, which includes a plurality of thrust generators for controlling motion, and performs fixed point holding control of the navigation body. A detector for detecting an angle, a setting device for setting the position, speed, and azimuth of the navigation vehicle, and comparing the position, speed, and azimuth information output from the setting device and the detector, to the navigation. A control command calculator for outputting a command signal of a total thrust and a total moment necessary to hold the running body at the set position and the set azimuth; and a plurality of control commands based on the command signals output from the control command calculator. A thrust distributor that outputs a thrust distribution signal corresponding to each of the plurality of thrust generators so as to secure the total thrust and the total moment at the minimum swing angle in each of the thrust generators; And a thrust allocation signal outputted from the force distributor based, characterized by comprising a plurality of thrust generators driving unit for driving the plurality of thrust generators, respectively.

(Operation) The current state of the vehicle, for example, the position, speed, azimuth, etc., is detected by the detector and sent to the control command calculator. On the other hand, the setting device sends setting information on the above-mentioned marine vehicle, for example, setting information such as position, speed, and azimuth, to the control command calculator. The control command calculator compares, for example, the position, speed, azimuth information, etc. detected by the detector with the information set by the setting device, and sends a command signal of total thrust and total moment to the thrust distributor. Output. Next, the thrust distributor generates a thrust distribution signal necessary for securing the total thrust and the total moment with a minimum swing angle for each of the plurality of thrust generators. The generated thrust distribution signal corresponding to each of the plurality of thrust generators is sent to each of the plurality of thrust generator driving units. Each of these thrust generator drive units drives the corresponding thrust generator at the minimum swing angle based on the input thrust distribution signal, and controls so that the navigation body is maintained at the set position and the set azimuth. I do.

As described above, the total thrust and the total moment required for holding the sailing body at a fixed position at the set point under the condition that the swing angle of each of the plurality of thrust generators in the sailing body are minimized. Since it is possible to output such a thrust distribution signal as to ensure, it is possible to execute the fixed point holding control of the marine vehicle more efficiently than in the past.

[0012]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a conceptual diagram of a floating system of a traveling body to which the present invention is applied. In FIG. 1, 21 is
For example, a running body such as a ship. Inside this hull 21
A control thrust distribution device (control device) 22 is mounted.
Further, a plurality of thrust generators 23 are mounted on the outer bottom surface of the hull 21. Also, this thrust generator 23
Here, a swing thruster is used. The control thrust distribution device 22 controls the fixed point holding of the navigation body 21 by controlling each of the plurality of thrust generators 23.

FIG. 2 is a system configuration diagram when the control thrust distribution device according to one embodiment of the present invention is applied to a marine vehicle.
3 is a configuration diagram showing details of a thrust distributor, FIG. 4 is a functional explanatory diagram of a thrust generator drive unit and a thrust generator, and FIG. 5 is an overall circuit configuration combining FIGS. 2, 3, and 4 described above. FIG.

As shown in FIG. 2, the control thrust distribution device 22
Is a detector 31, a setting device 32, a control command calculator 3
3, a thrust distributor 34 and a thrust generator drive unit 35.

As shown in FIG. 5, the detector 31 includes, for example, a ship position measuring device 31a for measuring the position of the vehicle 21 using a GPS (radio wave positioning system) or the like, a ship speedometer 31b for measuring the ground speed, The gyro compass 31c detects the azimuth of the bow, and outputs various detected information to the control command calculator 33. In addition, the setting device 32 is a
The position setting device 32a sets a ship position, a speed setting device 32b sets a ship speed, an azimuth setting device 32c sets an azimuth angle of the bow, and the like, and outputs the setting information to the control command calculator 33.

The control command calculator 33 includes a detector 3
1 is compared with the setting information of the setting device 32, and the total thrust (F _XC , F _XC ,
The command signals of F _YC ) (Force command) and total moment (N _ZC ) (Moment command) are output to the thrust distributor 34.

That is, the control command calculator 33 is composed of a current thrust calculation circuit 33a that constantly obtains the required thrust, and a comparison calculation circuit 33b that obtains the thrust required to restore the shift when the ship position shifts, This comparison operation circuit 33
b is a comparison circuit 33b1, a PI (proportional integration) calculation circuit 33b2, a comparison circuit 33b3, a D (differential) calculation circuit 3
3b4, a comparison circuit 33b5, a PID (proportional-integral-derivative) calculation circuit 33b6, an addition circuit 33b7, an addition circuit 33c,
It comprises a hull shape storage circuit 33d and an addition circuit 33e.

The comparison circuit 33b1 includes a ship position setting unit 32
The ship position set to “a” is compared with the current ship position measured by the ship position measuring device 31a, and the difference signal is output to the PI calculation circuit 33b2. Based on the difference signal from the comparison circuit 33b1, the PI calculation circuit 33b2 obtains thrusts in the X-axis direction and the Y-axis direction for restoring the displacement and outputs the thrusts to the addition circuit 33b7.

The comparison circuit 33b3 is provided with a ship speed setting device 3
The ship speed set to 2b is compared with the ship speed measured by the ship speedometer 31b, and the difference signal is output to the D operation circuit 33b4. This D operation circuit 33b4 is equivalent to the comparison circuit 33b3.
Based on the difference signal from, the speeds in the X-axis direction and the Y-axis direction for recovering the deviation are obtained and output to the addition circuit 33b7. Then, the addition circuit 33b7 includes the PI operation circuit 33
adds the calculation result of b2 and D calculation circuit 33B4, thrust F _X in the X-axis direction of the thrust generator 23 and outputs a thrust F _Y in the Y-axis direction to the adder circuit 33c.

The comparison circuit 33b5 is provided with an azimuth setting device 3
The azimuth set to 2c is compared with the current azimuth measured by the gyro compass 31c.
Output to the ID operation circuit 33b6. The PID operation circuit 33b6 performs an operation based on the difference signal from the comparison circuit 33b5, obtains a pitching moment signal value F _N , and outputs it to the addition circuit 33e.

On the other hand, the current thrust calculation circuit 33a calculates the current thrust based on the command value from the thrust generator drive unit 35 to each thrust generator 23, and calculates the thrusts F _XO and Y in the X-axis direction.
The axial thrust F _YO is input to the addition circuit 33c, and the pitching moment signal value N _ZO is input to the addition circuit 33e.

The adder circuit 33e includes a hull shape storage circuit 33.
With reference to the hull shape stored in d, the current thrusts F _XO and F _YO from the current thrust calculation circuit 33a and the addition circuit 33b7
The sum of the thrusts F _X and F _Y required to restore the deviation from the total thrust in the X and Y axis directions (F _XC and F _YC ) is output to the thrust distributor 34. Further, the addition circuit 33e
Adds the pitching moment the signal values F _N from pitching moment the signal value N _ZO and PID operation circuit 33b6 from the current thrust calculation circuit 33a, and outputs a total moment (N _ZC) in the thrust distributor 34.

The thrust distributor 34 receives the command signal sent from the control command calculator 33 and receives a plurality of thrust generators so as to secure the total thrust and the total moment with the minimum thruster swing angle. A thrust distribution signal is output to a thrust generator drive unit 35 provided corresponding to each of the thrust generators 23 (in FIG. 2 and FIG. 5, the plurality of thrust generators 23 and thrust generator drive units 35 each include one thrust generator).
Shown as individual blocks).

As shown in FIGS. 3 and 5, the thrust distributor 34 includes a thrust component calculation circuit 34a, a thrust generator position storage circuit 34b, a post-change angle calculation circuit 34c, a first evaluation calculation circuit 34d, and a second evaluation calculation circuit. It comprises an arithmetic circuit 34e and a thrust component determination circuit 34f.

Then, the total thrust (F _XC , F _YC ) and total moment (N _ZC ) sent from the control command calculator 33 are input to the thrust component calculation circuit 34a. Further, the current angle ψ _0i before the swing of the thrust generator 23 is changed is input to the first evaluation calculation circuit 34d. The thrust generator position storage circuit 34b calculates i from the center of gravity G of the
The distance (L _Xi , L _Yi ) to the thrust generator 23 is stored and input to the thrust component calculation circuit 34a. The thrust component calculation circuit 34a calculates the thrust components (F _Xi , F _Yi ) in the X and Y axis directions of each thrust generator 23 based on the respective inputs.
It outputs to the post-change angle calculation circuit 34c. The post-change angle operation circuit 34c obtains the angle ψi of the thrust generator 23 after the swing of the thrust generator 23 from the thrust components (F _Xi , F _Yi ), and outputs the angle ψ _i to the first evaluation operation circuit 34d.

The first evaluation operation circuit 34d includes the thrust generator 2
The evaluation function J ₁ is obtained from the current angle ψ _0i before the head change and the angle ψ _i after the head change in the second evaluation operation circuit 3.
4e. The second evaluation computing circuit 34e calculates an overall evaluation function J ₂ on the basis of the evaluation function J ₁ outputs to the thrust component determination circuit 34f. This thrust component determination circuit 3
4f is minimum solution of the synthetic evaluation function J _2, i.e., the thrust component (F _Xi, F _Yi) seeking, and outputs to each of the thrust generator driving unit 35.

Next, the distribution algorithm in the thrust distributor 34 will be described with reference to FIGS.
The motion performed on the hull 21 shown in FIG. 1 is a three-dimensional spatial motion. That is, in the conceptual diagram of the floating structure of the traveling body 21 in the same figure, the above-described motion has three degrees of freedom around the X, Y, and Z axes with the center of gravity G of the traveling body 21 as the origin. Therefore, the thrust in the thrust generator 23 is represented by the following (1) to
The condition shown in equation (3) must be satisfied.

[0028]

[Equation 1]

[0029]

[Equation 2]

[0030]

(Equation 3)

However, the above equations (1) and (2) are the conditions for the equation of force, and the equation (3) is the equation for the moment (the moment is positive in the right-hand thread direction). The above (1)-
In the equation (3), n is the number of thrust generators 23, and i is i
The thrust generator 23, F _XC and F _YC are the total thrust signal values in the X and Y axis directions required for the thrust generator 23.
N _ZC is the total moment signal value of the pitching required for the thrust generator 23, (L _Xi , L _Yi ) is the distance from the center of gravity G of the craft 21 to the i th thrust generator 23, and , (F _Xi , F _Yi ) are the i-th thrust generator 23
Is the thrust component in the X and Y axis directions. In addition, the above F _Xi , F
_{For Yi} , the allowable range represented by the following inequality condition is specified.

F _mini ² ≦ F _Xi ² + F _Yi ² ≦ F _maxi ² (4) In the above equation (4), F _mini is the minimum value of the thrust generated by the i-th thrust generator 23, that is, the minimum capacity. It is. F _maxi is the maximum value of the thrust generated by the i-th thrust generator 23, that is, the maximum capacity.

Further, within the allowable range described above, thrust components (F _Xi , F _Yi ) (i = 1 to 3) satisfying the three equation conditions of the above equations (1) to (3) and the inequality condition of the 2n term. n)
There are many. Therefore, it is necessary to provide one evaluation criterion and determine the thrust component of each thrust generator 23 according to the evaluation criterion. The 2n term inequality described above means that each of the n thrust generators 23 has two minimum thrust values (F _mini ) and a maximum thrust value (F _maxi ) in the above equation (4). This is due to having inequality conditions.

The thrust component calculation circuit 34a of the thrust distributor 34
_Calculates the thrust components (F _Xi , F _Yi ) in the X and Y-axis directions of each thrust generator 23 according to the above equations (1) to (4). In the distribution algorithm of the thrust distributor 34, the thrust component of each thrust generator 23 is used as the evaluation criterion, with the condition that the change in the swing angle (the swing thruster angle) in the thrust generator 23 is minimized. Make a decision. The evaluation function used in that case is shown in the following expression (5).

[0035]

(Equation 4)

The first evaluation operation circuit 34d calculates the evaluation function J ₁ by equation (5). Here, ψ _i = tan ⁻¹ (F _Yi / F _Xi ) (6) In the above equation (5), ψ _0i is the current angle before the swing of the thrust generator 23 is changed, that is, the angle of the reference value. It is. Further, で_i is the angle after the swing of the thrust generator 23 is changed, and is obtained by the angle calculation circuit 34c after the change. That is,
(5) by obtaining a solution which minimizes the evaluation function J ₁ set in type, thrust to minimize the change in the swing angle distribution _{(F Xi, F Yi) (} i = 1~n) Is determined. Will now be discussed operations required to minimize the evaluation function J _1.

First, the total evaluation function J ₂ is set and obtained by the second evaluation operation circuit 34e as in the following equation (7). J ₂ = J ₁ + Ψ (r, H ₁ , H ₂ ) + Φ (r, G ₁ ) (7) where Ψ is a penalty function relating to the equality condition, as shown in the following equation (8). Is represented by

[0038]

(Equation 5)

Φ in the above equation (7) is a penalty function relating to the inequality condition, and is expressed as shown in the following equation (9). Φ = t (1 / G _j ) (9) Further, r in equations (7) and (8) and t in equation (9)
Are both variable parameter, H _i the case in the above (8), G _j in the H _1, H _2, and (9), this means the G _1. In addition, the above H
_i and _j in _i and G _j are due to the generalization of the number.

Next, in the thrust component determining circuit 34f,
The quasi-Newton method minimum solution of the synthetic evaluation function J _2, computes by changing the values of the parameters r, t. The quasi-Newton method is an algorithm that can obtain a solution to a function in a finite number of iterations. It converts a constrained problem (equality, inequality condition) into an unconstrained problem by introducing an extended objective function. Solution of unconstrained problem (optimal value) for later use
Is a method of asking for. For example, in a certain state x ^k , the direction vector d ^k is used, the x ^k is moved in the direction so that the evaluation function J ₁ decreases, and the above-described process is repeated to converge the x ^k to an optimal solution. Things.

By obtaining the minimum solution of the comprehensive evaluation function J ₂ , the minimum solution obtained by the thrust distributor 34, that is, the thrust components (F _Xi , F _Yi ) are used as thrust distribution signals for the respective thrust generator driving units. 35. Each thrust generator drive unit 35 obtains the minimum swing angle of the corresponding thrust generator 23 using the above equation (6) based on the thrust distribution signal, that is, the minimum solutions F _Xi and F _Yi . Further, the thrust generator driving unit 35
Obtains the rotation speed (thrust) F _i in the corresponding thrust generator 23 by the following equation.

F _i = (F _Xi ² + F _Yi ² ) ^1/2 (10) Each thrust generator drive unit 35 uses the calculated swing angle and rotation speed as a swing angle command value and a rotation speed command value. , To the corresponding thrust generator 23. In each of the thrust generators 23, the minimum swing angle and the thrust are obtained based on the above two command values, and the motion control of the marine vehicle 21, that is, the fixed point holding control is performed. The following equation is used to calculate the total thrust obtained by the control command calculator 33 shown in FIG.

[0043]

(Equation 6)

[0044]

(Equation 7) Further, the total moment is obtained by the following equation.

[0045]

(Equation 8)

The above (11) to (1) for _{obtaining the} total thrust (F _XC + F _YC ) and the total moment (N _ZC ).
In the expression 3), * is a symbol indicating a set value, and X, Y
And θ represent the position and angle of the vehicle 21. Also, “K _DX · d (X ^* −X) /
dt ”and“ K _DY · d (Y ^* −Y) ”on the right side of the expression (12).
The derivative of the position at “/ dt”, “d / dt”, indicates the boat speed.

The total thrust (F _XC + F _YC ) and the total moment (N _ZC ) are obtained by PID calculation based on the difference between the set value and the detected value. The control command calculator 33 is most preferably a PID calculation, but is not limited thereto, and may be a PD calculation, a PI calculation, or the like. The comparison operation circuit 33b of the control command operation unit 33 in FIG. 5 is a diagram obtained by graphically expressing the above equations (11) to (13).

Next, the general function of the thrust generator driving section 35 will be described in more detail with reference to FIG. As shown in FIG. 4A, the thrust generator driving unit 35 receives the thrust distribution obtained from each thrust generator 23 calculated by the thrust distributor 34 as an input, and receives a neck for each of the thrust generators 23. The swing angle ψ is obtained by the following equation (14).

Ψ = tan ⁻¹ (F _Y / F _X ) (14) In the above equation (14), F _X is the thrust distribution of each thrust generator 23 in the X-axis direction, and F _Y is the Y-axis direction. Thrust distribution. Further, the rotation speed φ in the thrust distributor 23 is obtained by the following equation.

Φ ← (F _X ² + F _Y ² ) ^1/2 (15) That is, the thrust generator driving unit 35 uses the above formula (15) to rotate the rotation speed φ corresponding to the thrust distribution of each thrust generator 23. Is determined by the function value. That is, the thrust generator driving unit 35
Performs the calculations shown in the above equations (14) and (15), and determines the swing angle command value and the rotation speed command value output to the thrust generator 23 shown in FIG. 4B. Further, as shown in FIG. 7B, in each thrust generator 23, based on the swing angle command value and the rotation speed command value from the thrust generator driving unit 35 which are input values, Get the angle and thrust as output.

Next, the operation of the above embodiment will be described. In FIG. 1, a traveling body (floating body) 21 exists on the sea surface. In this state, the setting device 32 of the control thrust distribution device 22 shown in FIG. On the other hand, the detector 31 detects the position information, the angle information, and the like of the moving body 21 to detect the control command calculator 3
3 Next, the control command calculator 33
Will be described with reference to the flowchart shown in FIG.

That is, in the figure, as described above, the set value information of the position and angle of the navigation vehicle 21 output from the setter 32, that is, (X ^* , Y ^* , θ ^* ) is the control command calculator 33. (Step A1). Then, the current position and angle information of the hull 21, that is, (X, Y, θ) is input to the control command calculator 33 (step A2). Next, the control command calculator 33
Calculates the total thrust signal values F _XC and F _YC and the total moment signal value N _ZC by _{performing the} calculations shown in the above equations (11) to (13) (step A3).

In the above step A3, “d (X ^* −X) / d” in the equation for _{obtaining the} total thrust signal values F _XC and F _YC.
t) "and" d (Y ^* -Y) / dt) "are d (X ^* -X) / dt = (dX ^* / dt)-(dX / dt) d (Y ^* -Y) / dt = (DY ^* / dt)-(dY / dt). (DX / dt, dY /
The measurement data of the speedometer is used as the motion parameter detection value of dt). Note that (dX ^* / dt), (dY ^* /
dt) is a target value (set value).

In the equation for _{calculating the} total moment signal value N _ZC , “d (θ ^* −θ) / dt) is: d (θ ^* −θ) / dt = (dθ ^* / dt) − (dθ / dt). The angle signal from the gyro is used as the detected value of the angle rate value of (dθ / dt) in the above equation. (Dθ ^* / dt) is the target value (set value)
It is.

Next, the total thrust signal values F _XC and F _YC and the total moment signal value N _ZC calculated in step A3 are output to the thrust distributor 34 (step A4).

Next, the thrust distributor 34 obtains a thrust component based on the signal values (Force command and Moment command) of F _XC , F _YC and N _ZC sent from the control command calculator 33. That is, the thrust distributor 34 satisfies the above equation (1) and equation (2) for the force and the equation (3) for the equation for the moment, and falls within the allowable range in the equation (4). Thrust components F _Xi , F _Yi corresponding to the respective thrust generators 23 so that the swing angle is minimized.
Is determined according to the calculation in the above-mentioned distribution algorithm, that is, by minimizing the evaluation function J _{1 in the} equation (5).

Next, each of the thrust distributors 34 uses the thrust components (F _Xi , F _Yi ) of the minimum solution corresponding to each of the determined thrust generators 23 as a thrust distribution signal, and each of the thrust generator driving units. 35. Next, each thrust generator drive unit 35 uses the thrust distribution signals, that is, the thrust components (F _Xi , F _Yi ), to input a plurality of thrust generators 23 using the equations (6) and (10). Find the minimum swing angle and rotation speed (thrust) corresponding to each. The thrust angle and the number of rotations are transmitted from the thrust generator drive unit 35 as signals of the swing angle command value and the rotation speed command value, respectively, to the corresponding thrust generator 2.
3 is output. Next, in each thrust generator 23, a swing angle and a thrust corresponding to each are obtained as outputs, and fixed point holding control in the navigation body 21 is performed.

Next, the vehicle 2 in the above embodiment is described.
Regarding the fixed point holding control of 1, an example of three calculation results performed by the control thrust distribution device 22 will be described with reference to FIGS. 7 to 9 (Case 1 to Case 3).

First, in the sailing body 21 which is a floating body shown in FIG. 7A, the speed of the tidal current on the sea surface is 3 knots, the wave direction is 35 °, the wave height is 0.5 m, the wind is in the 35 ° direction, and the wind speed is 10 m. / Sec, the tidal disturbance is 0 ° →
In the case where the angle is changed to 35 °, the moving distance x in the X-axis direction and the moving distance y in the Y-axis direction of the coordinate position (X ₀ , Y ₀ ) of the center of gravity G of the navigation body 21 are shown in FIG. , And the variation of the angle θ of the sailing body 21 with time.
That is, FIG. 6B shows a change in the position and the angle of the navigation body 21 with the passage of time. The X and Y axis directions are the same as those shown in FIG.

As shown in FIG. 6A, the coordinate position (X ₀ , Y ₀ ) of the center of gravity G of the hull 21 is the origin position (0, 0). 0 ° → 35
When the angle is changed to °, as shown in (b) of the figure, the moving distance x fluctuates in the negative X-axis direction from about 100 sec, which is the change point, to 200 sec (the fluctuation range is within 2 m). The moving distance y also fluctuates, but the moving distance x
Is very small as compared with the amount of fluctuation. Both the moving distances x and y fluctuate, and the above-mentioned fixed point holding control is performed by the control thrust distribution device 22 in the marine vehicle 21 and returns to zero. That is, the center of gravity G of the sailing body 21 is returned to and held at the origin position (0, 0). In FIG. 2B, the angle θ of the hull 21 is constant at 0 °. This is because the fixed point holding control is performed at the angle θ = 0 °.

In case 2 shown in FIG. 8, the tidal disturbance is fixed at 35 °, the speed of the tidal current changes from 0 to 3 knots, and other conditions are the same as those shown in FIG. In the case, the center of gravity G of the craft 21 is set at the origin position (0,
It is the calculation result until it returns to 0). Also in this case, when the speed of the tidal current in FIG. 8A changes from 0 to 3 knots, it is a change point as shown in FIG. From about 100 sec to 220 sec, the moving distance x fluctuates in the negative X-axis direction (up to about 2 m) and converges to zero. Further, as in the case 1 described above, the variation of the moving distance y is much smaller than the variation of the moving distance x.

Next, in case 3 shown in FIG. 9, the tidal disturbance is constant at 35 °, the speed of the tidal current changes from 3 to 0 knots, and other conditions are the same as those shown in FIG. It is. In this case, when the speed of the tide shown in FIG. 9A changes from 3 to 0 knots, the moving distance x becomes
Contrary to the moving distance x in (b), it fluctuates in the positive X-axis direction from about 100 seconds to 220 seconds (maximum 2).
m) and converge to 0. This is due to the fact that it receives a force in a direction opposite to the force received by the vehicle 21 shown in FIG.

The fact that the angle θ shown in FIGS. 8B and 9B is constant at 0 ° is the same as in FIG.
As described above, the control thrust distribution device 22 in the present invention
Then, when performing the fixed point holding operation of the sailing body 21, the sailing body 21 is fixed to the set position under the condition that the thrust distributor 34 minimizes the swing angle in each of the plurality of thrust generators 23. The total thrust required to maintain the force F _XC , F
_The thrust components (F _Xi , F _Yi ) that can secure _YC and total moment N _ZC are determined. Then, for each of the plurality of thrust generators 23, the thrust components (F _Xi ,
F _Yi ), the rotation speed, that is, the thrust can be distributed, and the driving can be performed with the minimum swing angle.
In this case, it is possible to perform time-efficient and excellent fixed-point holding control.

The above thrust generator (pivoting thruster)
The number of 23 and thrust generator drive units 35 is four in the case of a platform for a bridge work platform. In addition, the above quantity is 2 to 8 depending on the cruising vehicle,
Alternatively, there are eight or more cases.

In the above embodiment, the comparison operation circuit 33b shown in FIG. 5 uses the comparison circuits 33b1, 33b3,
The case where the ship speed and the azimuth angle are controlled simultaneously by simultaneously operating the ship 33b5 has been described. In addition, for example, the ship speed control (auto speed mode) for controlling the ship speed by the comparison operation of the comparison circuits 33b1 and 33b3, the comparison circuit 33b5
Azimuth control (autopilot mode) for controlling the azimuth by the comparison operation described above may be individually and independently operated.

[0066]

As described above, according to the present invention,
When performing a fixed point holding operation of the craft, the thrust generators that output thrust distribution signals corresponding to each of the plurality of thrust generators allow the plurality of thrust generators to rotate under the condition that the swing angle is minimized. Thrust distribution can be performed for
This makes it possible to carry out efficient and excellent fixed-point holding control on the hull.

[Brief description of drawings]

FIG. 1 is a view for explaining the concept of a floating system of a traveling body to which the present invention is applied.

FIG. 2 is a system configuration diagram in a marine vehicle to which the control thrust distribution device according to one embodiment of the present invention is applied.

FIG. 3 is a block diagram showing a detailed configuration of a thrust distributor in the embodiment.

FIG. 4 is an exemplary view for explaining functions of a thrust generator drive unit and a thrust generator according to the embodiment;

FIG. 5 is a block diagram showing the overall configuration of the embodiment.

FIG. 6 is a flowchart for explaining the operation of the control command calculator in the embodiment.

FIG. 7 is a view showing an example of a first calculation result in the embodiment.

FIG. 8 is a diagram showing a second calculation result example in the same embodiment.

FIG. 9 is a view showing a third calculation result example in the embodiment.

FIG. 10 is a block diagram of a conventional manually operated thrust distribution device.

FIG. 11 is a block diagram of a conventional automatic control thrust distribution device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 21 Aircraft 22 Control thrust distribution device 23 Thrust generator 31 Detector 31a Ship position measuring device 31b Ship speedometer 31c Gyro compass 32 Setting device 32a Ship position setting device 32b Ship speed setting device 32c Direction setting device 33 Control command calculator 33a Current Thrust calculation circuit 33b Comparison calculation circuit 34 Thrust distributor 34a Thrust component calculation circuit 34b Thrust generator position storage circuit 34c Post-change angle calculation circuit 34d First evaluation calculation circuit 34e Second evaluation calculation circuit 34f Thrust component determination circuit 35 Thrust generator Drive part

Claims (4)

[Claims] 1. A control unit for distributing control thrust of a sailing body having a plurality of thrust generators for controlling movement, the detector for detecting a position and a speed of the sailing body. A setting device for setting the position and speed of the above-mentioned marine vehicle,
A control command calculator for comparing the information output from the setter and the detector to output a total thrust necessary to hold the navigation body at a set position; and a control command calculator for outputting the total thrust. A thrust distributor that outputs a thrust distribution signal corresponding to each of the plurality of thrust generators so as to secure the total thrust at a minimum swing angle in each of the plurality of thrust generators based on a command signal; and A control thrust distribution device for a vehicle, comprising: a plurality of thrust generator drive units for driving the plurality of thrust generators based on a thrust distribution signal output from the distributor. 2. A control thrust distribution device for a vehicle, which includes a plurality of thrust generators for motion control and performs a fixed point holding control of the vehicle, wherein a detector for detecting an azimuth of the vehicle is provided.
A setter for setting the azimuth of the sailing vehicle, and a command for the total moment required to hold the sailing vehicle at the set angle by comparing the azimuth information output from the setter and the detector. A control command calculator for outputting a signal, and the plurality of thrusts being secured based on a command signal output from the control command calculator so as to secure the total moment at a minimum swing angle in each of the plurality of thrust generators. A thrust distributor that outputs a thrust distribution signal corresponding to each of the generators, and a plurality of thrust generator drive units that respectively drive the plurality of thrust generators based on the thrust distribution signal output from the thrust distributor. A control thrust distribution device for a marine vehicle, comprising: 3. A control thrust distribution device for a vehicle, which is provided with a plurality of thrust generators for motion control and performs fixed point holding control of the vehicle, for detecting the position, speed and azimuth of the vehicle. The detector and a setting device for setting the position, speed and azimuth of the above-mentioned vehicle and the position, speed and azimuth information output from this setter and the above detector are compared to set the above-mentioned vehicle A control command calculator that outputs command signals for total thrust and total moment necessary to maintain the position and set azimuth angle, and a plurality of thrust generators based on the command signal output from this control command calculator A thrust distributor that outputs a thrust distribution signal corresponding to each of the plurality of thrust generators so as to secure the total thrust and the total moment at the minimum swing angle in each,
A control thrust distribution device for a vehicle, comprising: a plurality of thrust generator drive units for driving the plurality of thrust generators based on a thrust distribution signal output from the thrust distributor. 4. The thrust distributor includes thrust generator position storage means for storing the positions of the thrust generators, positions of the thrust generators stored in the storage means, and output from the control command calculator. Based on the command signal, the thrust component calculator calculates each thrust component of the thrust generators, and the angle after change of the thrust generator swing from each thrust component calculated by this calculator An arithmetic circuit, a first evaluation arithmetic circuit for calculating an evaluation function from the current angle of the thrust generator and the angle after the swing change obtained by the post-change angle arithmetic circuit, and the first evaluation arithmetic circuit. A second evaluation arithmetic circuit for calculating a total evaluation function from the evaluation function
4. The control thrust distribution device for a vehicle according to claim 1, further comprising a thrust component determination circuit for determining a thrust component based on the comprehensive evaluation function calculated by the evaluation operation circuit.