JPS608190A - Automatic steering unit for ship - Google Patents

Abstract

PURPOSE:To enhance the course keeping ability of a ship, by providing a small computer with which variations in characteristic values are computed in a short time to optimumly steer the ship in accordance with changes in the loading condition and speed of the ship. CONSTITUTION:There are provided a steering angle transmitter 3a which transmits a steering angle signal through a signal converter 3b to a computer 1 connected with a control panel 2 that indicates the course of a ship, a gyro- compass 6 which transmits an azimuth signal through a signal converter 3b to the computer 1, and a ship speed meter 7 which transmits a ship signal to the computer 1. The computer 1 is connected so that a steering angle control signal is transmitted from the computer 1 to a steering unit 4 through an actuator 8. A data processing device incorporated in the computer 1 is composed of an input processor 9, a steering characteristic exponent computing part 14 and a control part 15 for computing parameters such as, for example, a control gain, etc. and for transmitting a steering control signal based upon the optimum parameters to the actuator 8.

Description

[Detailed description of the invention] The present invention relates to an automatic steering device used in a ship.

In general, in order to use a marine automatic steering system efficiently, it is necessary to know the characteristic values related to the maneuvering motion of the vessel it is operating. has a maneuverability index K (rudder force/turning resistance) and a maneuverability index T (4i steering force/turning resistance), where δ is the steering angle, γ is the azimuth angular velocity, and time is dγ T-2r- The relational expression δ---(1) holds true for E−1γ=.

By the way, when a ship is operating, the above-mentioned characteristic values also change due to changes in the loading condition and ship speed, but in conventional automatic steering systems, the changes in the above-mentioned characteristic values are determined by manual control of the rudder angle and by the turning movement of the ship. was estimated using control theory or statistical theory as the output.

However, with conventional means of estimating characteristic values,
The problem is that it requires a large amount of computer memory and takes a long time to calculate.

The present invention aims to improve the above-mentioned problems in conventional marine automatic steering systems, and uses simple calculation means to estimate changes in characteristic values in a short time with a small computer, thereby improving the load state. An object of the present invention is to provide a marine automatic steering system capable of performing optimal steering according to changes in ship speed and ship speed, thereby improving Kushiro holding performance.

Therefore, the marine automatic steering system of the present invention includes an operation panel for issuing Kushiro commands, a computing unit connected to the operating panel, a ship speedometer for supplying a ship speed signal to the computing unit, and a signal converter. a gyro compass that supplies an azimuth signal to the arithmetic unit through the gyro compass; a steering gear that is controlled via an actuator by a control signal from the arithmetic unit; and detects the steering angle of the rudder driven by the steering gear. and a rudder angle transmitter which supplies a rudder angle signal to the arithmetic unit; A maneuverability index calculating section that calculates the ratio between the rudder force and the turning resistance using the ratio of the rudder force and the inertia force, and a maneuverability index calculation section that calculates the ratio between the inertia force and the turning resistance; The present invention is characterized by being provided with a control section that calculates parameters such as control gain and transmits a steering control signal based on the optimum parameters to the actuator.

A marine automatic steering system as an embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a system diagram thereof, and FIG. 2 is a block diagram showing a data processing device vC thereof.

An operation panel 2 for instructing the course is connected to the calculator 1,
a rudder angle transmitter 5 that sends a rudder angle signal to the calculator 1 via a signal converter 3a; a gyro compass 6 that sends an azimuth signal to the calculator 1 via a signal converter 31); Ship speedometers 7 that send signals to the computing unit 1 are connected to the computing unit 1, respectively.

The computing unit 1 is connected to send a steering control signal to the steering gear 4 via the actuator 8.

Further, the computing unit 1 has a built-in data processing device shown in FIG. Based on the signal of , the values of K and I' are computed from the roughly memorized values of /]'.
14, and a control section 15 that calculates parameters such as control gain based on the signal from the maneuverability index calculation section 14, and transmits a steering control signal to the actuator 8 based on the optimal parameter. The maneuverability index calculation unit 14 is a signal processing unit 1 that performs filtering and differentiation on the signal sent from the human power processing unit 9.
0, rudder angle, force j/ direction angle, azimuth velocity, ship speed, etc. are received from the same signal processing unit 10, and are roughly memorized from the value of /1゛ to I (and the value of 1゛) It consists of an arithmetic processing section 11 that performs the processing.

The control unit 15 also receives the signals of the values of K and l′ calculated by the calculation processing unit 11, and includes a gain processing unit 12 that calculates parameters such as control gain. and a DDC processing section 13 which receives signals of the determined parameters and signals such as steering angle, azimuth velocity, speed, etc. from the signal processing section 10, and sends steering control signals to the actuator 8 for direct digital control. .

The automatic steering system according to the first aspect of the present invention is configured as described above, so when changing Kushiro, the setting switch on the operation panel 2 is pressed to generate a maneuverability index estimation calculation process request, and then, By performing the maneuver to change Kushiro, the value of 1' is estimated by the following means, and the optimal maneuver is performed.
I can.

In other words, when the ship maneuvers to change the route, the ship eventually reaches a steady turning state, and at that time the azimuth angular velocity γ becomes a constant value, so in the above equation (1), dy/Jt=.

The following equation is obtained.

I - γ/δ ・ ・ ・ ・ (2) Also, by using this value of K and the pre-memorized value of /T, the value of ゛ can be determined by the following equation.

To explain the flow of the signals for this horse mackerel in detail with reference to the diagram, the rudder angle δ signal supplied from the rudder angle transmitter 5, the azimuth W signal supplied from the gyro compass, and the ship speedometer signal The signal of the ship speed V to be calculated is sent to the signal processing unit 10 via the input processing unit 9, where it is used for filtering and differential calculation. The signal is sent to the arithmetic processing section 11 together with the signal.

The arithmetic processing unit 11 calculates the above δ, γ according to equation (2).
After the value of K is determined using the value of , a value of /1 is selected from the preliminarily memorized values of /T according to the loading condition, ship speed V, etc. Using the value of T and the previously determined value of K, the value of 'r is determined by equation (3).

The signals of the K and T values determined by the arithmetic processing section 11 are sent to the gain processing section 12, where parameters such as control gain are calculated, and the signals of these parameters are subjected to DDC processing. Sent to Department 13.

D I) The C processing unit 13 processes signals such as the rudder angle δ, power angle ri, azimuth angular velocity γ, and ship speed V sent from the signal processing unit 10, and the parameter signals sent from the gain processing unit described in 1. After calculating the commanded rudder angle necessary to maintain the course,
A steering control signal based on this is sent to the actuator 8 to perform steering.

Note that if the ship has not reached a steady turning state even after the start of the Kushiro change, the following equation holds true, where L is the elapsed time after the start of the Kushiro change.

1 γ = δ (1-eT) ... (4) 1 V = δ (+, +TeT) I + + (5) Here, within the range of 0 < T < (T/2), the following The following similar expression holds true.

e-'r 41. (L/T)+1/2(t/'r)
2 ・ ・ (6) Therefore, by substituting equation (6) into equation (5), we obtain the following equation.

V= δ+(K'/C)+(C/2)L'l ・
・ ・ (7) Here, C=/T, and the value of C is written down and written down in the arithmetic processing unit 11 (i1'[
It is.

When formula (7) is transformed and rearranged with respect to K, the following formula is obtained.

](=C((N!/δ)−(C/2)[21・・
・(9) In this way, if the ship has not reached a steady turning state after starting the Kushiro change, 0 < t <(1'/2)
The value of K is calculated from time to time within the range of (9) using equation (9), and the average of these K values is taken as the value for the maneuverability index.

As described in detail above, according to the marine automatic steering system of the present invention, there is an operation panel for issuing Kushiro commands, a computing unit connected to the operating panel, and a ship supplying a ship speed signal to the computing unit. A speedometer, a gyro compass which supplies a force position angle signal (J) to the arithmetic unit via a signal converter, and a steering wheel which is controlled via an actuator by the control signal from the arithmetic unit (1). , a rudder angle transmitter that detects the rudder angle of the rudder driven from the rudder rock and supplies a rudder angle signal to the arithmetic unit; Based on the speed signal, the azimuth signal, and the rudder angle signal, the ratio of the rudder force to the turning resistance is calculated using the ratio of the rudder force to the inertial force that has been corrected and memorized. A controllability index calculating section that calculates the ratio of the turning resistance to the turning resistance, and a control that calculates parameters such as a control key from the above ratio and transmits a steering control signal based on the optimal parameters to the -1- actuator. It has a simple structure in which a small capacity computer memory is used to calculate the maneuverability index in a short time. It is possible to determine the maneuverability index without requiring the ship maneuvering method 1', and there is an advantage that automatic steering can be carried out efficiently and accurately.

[Brief explanation of drawings]

FIG. 1 is a system diagram of a marine automatic steering system as an embodiment of the present invention, and FIG. 2 is a block diagram showing a data processing device thereof. 1... Arithmetic unit, 2... Operation panel, 3a, 3b... Signal converter, 4... Steering gear, 5... Rudder angle oscillator, 6... Gyro compass, 7... 11Ui + meter, 8... Actuator, 9...input processing unit, 10...signal processing unit, 11...
- Arithmetic processing section, 12... Gain meter W, section, 13... DD
C processing section, 14... Maneuverability index calculation section, 15... Control 1
Part 11. Sub-Agent Patent Attorney Yoshihiko Iinuma

Claims (1)

[Claims] An operation panel that issues Kushiro instructions, a computing unit connected to the operating panel, a ship speedometer that supplies ship speed signals to the computing unit, and a force angle signal to the computing unit via a signal converter. A gyro compass that supplies the steering wheel, a steering wheel that is controlled via an actuator by a control signal from the calculator, and a steering angle of the rudder driven by the steering rock is detected and the steering angle is sent to the calculator. and a rudder angle transmitter for supplying a signal, and the rudder angle transmitter is provided with a rudder angle transmitter that supplies a signal, and the ratio of rudder force to inertia force that is preliminarily stored is used in the arithmetic unit based on the ship speed signal, the azimuth signal, and the rudder angle signal. , a maneuverability index calculation unit that calculates the ratio fL of the rudder force and the turning resistance, and calculates the ratio of the inertia force and the turning resistance;
Calculate parameters such as control keys from the above ratio,
An automatic steering system for a sailboat, comprising: a control section that transmits a steering control signal to the actuator based on the optimum parameters.