JPS6212496A - Auto pilot - Google Patents

Abstract

PURPOSE:To remove load of a mate to ensure safety steering, and prevent an increase in fuel consumption due to over-steering, by automatically adjusting yawing due to a change in stowage condition, ship speed, marine weather and meteorology to a predetermined value. CONSTITUTION:A difference between a target azimuth set by an azimuth settor 1 and a bow azimuth detected by an azimuth detector 2 is calculated by an azimuth computer 3, and is input to an azimuth difference absolute value computer 6 to obtain an absolute value of the azimuth difference. The absolute value is smoothened by a smoothening computer 7 to obtain a present value of yawing. This value is compared with yawing set by an azimuth difference settor 8 by a gain computer 9 to obtain a command steering angle gain. Then, an amplified gain of a command steering angle computer 10 is automatically adjusted to compute a command steering angle. This value is received by a steering gear 5, which in turn operates a rudder and maintains a predetermined bow azimuth, thus conducting auto pilot. Accordingly, it is possible to remove load of a mate so as to ensure safety steering and prevent an increase in fuel consumption due to over-steering.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to an automatic steering device that enables ships such as merchant ships and fishing boats to be steered to a predetermined heading sway. .

(Prior Art) Conventionally, an automatic steering system for use in ships has been proposed with the configuration shown in FIG.

In Figure 2, 1 is a direction setting device for setting the destination position of own ship, 2 is a direction detector for detecting the heading direction of own ship, and 3 is a direction detector for detecting the heading direction of own ship.
4 is a command rudder angle calculator that calculates the command rudder angle from the output of the heading difference calculator 3; 5 is the command rudder angle calculator that calculates the command rudder angle from the output of the command rudder angle calculator 4; This is the rudder gear that moves the rudder.

In the automatic steering system configured in this way, when the ship is sailing, the azimuth setting device 1. The self-sufficient destination position set by the direction detector 2 and the detected own ship's heading are input to the heading difference calculator 3, and the difference between these destination positions and the heading is calculated. The command rudder angle calculator 4 calculates the command rudder angle value that brings the bow of the ship into alignment with the destination position using the output of the heading difference calculator 3. The rudder 5 receives this command rudder angle value and operates the rudder. As a result, the ship's bow is constantly automatically adjusted to match a predetermined destination position while underway.

(Problem to be Solved by the Invention) However, the heading of the own ship detected by the heading detector 2 is accompanied by large and small wobbles (YAWING) that change from moment to moment due to the ship's cargo, ship speed, sea conditions, and weather. Is Umono.

If this sway in the ship's heading is large, it poses a problem in terms of safe ship operation.

If the navigator increases the amplification gain of the commanded rudder angle calculator 4 in order to reduce this head wobbling, the rudder will have to be turned more, resulting in an increase in fuel consumption. Therefore, in order to use the above-mentioned conventional automatic steering system, the navigator must constantly visually monitor the magnitude of the ship's heading sway and change the amplification gain of the command rudder angle calculator 4 to keep it within a predetermined range. I was adjusting the sway of the bow. This adjustment must be made over a long period of time during navigation.

There was a problem that the dog became a burden to the navigator.

SUMMARY OF THE INVENTION In order to solve this problem, the present invention aims to provide an automatic steering system that can automatically steer a vessel to maintain a predetermined heading.

(Means for solving the problems) Means for solving the above problems will be explained using FIG. 1 corresponding to the embodiment.

The present invention is an automatic steering system that automatically controls the rudder to keep the ship's heading in a predetermined direction while the ship is sailing. A bearing detector 2 that calculates the difference between the destination position and the heading, a bearing difference calculator 3 that calculates the difference in bearing between the destination position and the heading, and a bearing difference absolute value calculator 6 that calculates the absolute value of the bearing difference output from the bearing difference calculator 3. , a smoothing computer 7 that smoothes the output of the absolute value calculator 6 of the azimuth difference, a azimuth difference setting device 8 that sets the magnitude of the own ship's heading sway, and the smoothing computer 7 and the azimuth difference setting device 8. Gain calculator 9 that calculates the command steering angle gain based on the output
and.

A commanded rudder angle calculator io that amplifies the azimuth difference output of the azimuth difference calculator 3 according to the commanded rudder angle gain of the gain calculator 9 to calculate the commanded rudder angle, and a rudder 5 that moves the rudder based on the output of the commanded rudder angle calculator 10. The system automatically operates the rudder to maintain a predetermined bow sway.

(Function) With the automatic steering system configured in this way, the cargo of own ship,
The heading deviation of the own ship is set in advance by the heading difference setting device 8 according to the ship's speed, sea conditions, and weather.

It is desired that the magnitude of the bow sway be constant during navigation and be a small value, for example, within 1° or 2° on each side, from the viewpoint of safe ship maneuvering and efficient fuel consumption.

10,000, The absolute value of the azimuth difference is calculated by the azimuth difference absolute value calculator 6, which is the difference between the destination position of the own ship and the heading direction obtained by the azimuth difference calculator 3.

The value smoothed by the smoothing computer 7 of the absolute value of this azimuth difference is the current magnitude of the own ship's bow azimuth fluctuation, which changes from moment to moment.

The magnitude A of the own ship's bow sway preset by the heading difference setting device 8 and the current magnitude B of the own ship's bow sway obtained by the smoothing computer 7 are calculated by the gain calculator 9. The commanded steering angle gain G is calculated by comparing at predetermined time intervals, for example every 3 minutes. In this case, if the magnitude A of the heading sway is smaller than B, the gain calculator 9 calculates the commanded rudder angle gain G obtained in the previous comparison, the smaller commanded rudder angle gain Gl, and If the magnitude A is smaller than B, a commanded steering angle gain G2 larger than the previous commanded steering angle gain CO is output, respectively, and the amplification gain of the commanded steering angle calculator 10 is adjusted.

If the amplification gain is dog, the command rudder angle calculator 10 controls the rudder 5 so as to take a dog rudder angle than the current one, and as a result, the heading sway can be reduced, and the amplification gain If the rudder 5 is small, the rudder 5 will take a smaller rudder angle than the current one.
control.

As a result, the bow of the ship can be swayed like a dog.

Therefore, it is possible to automatically steer the ship so as to maintain the magnitude A of the bow sway determined by the azimuth difference setting device 8.

(Example) The present invention will be explained below with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of the present invention, and the same parts as those in the conventional example shown in FIG. 2 are given the same reference numerals.

In Figure 1, 1 is a direction setting device that sets the destination position of own ship, 2 is a direction detector that detects the heading direction of own ship, and 3
is the destination position set by direction setter 1 and direction detector 2
A heading difference calculator 6 calculates the heading difference which is the difference from the heading of the ship detected by the heading difference calculator 3, and a position therapy absolute value calculator 6 calculates the absolute value of the heading difference from the heading difference output from the heading difference calculator 3.

7 is a smoothing calculator that smoothes the absolute value of the azimuth difference that is the output of the azimuth difference absolute value calculator 6; 8 is a azimuth difference setting device that sets the magnitude of the own ship's heading sway; 9 is a smoothing computer 7 and a gain calculator that calculates the command steering angle gain from the output of the azimuth difference setter 8.

10&''s, a commanded rudder angle calculator which calculates the commanded rudder angle after amplifying the azimuth difference output of the azimuth difference calculator 3 according to the commanded rudder angle gain from the gain calculator 9; It is the rudder that moves it.

The operation of the automatic steering system according to the present invention configured as described above will be described below.

In the present invention, until the heading difference calculator 3 obtains the heading difference between the own ship's destination position set by the heading setting device 1 and the heading direction of the own ship detected by the ten-man position detector 2, This is the same as the conventional method described above with reference to FIG.

The value of the orientation difference obtained by the orientation difference calculator 3 is input to the orientation difference absolute value calculator 6 to obtain the absolute value of the orientation difference, and this absolute value of the orientation difference is smoothed by the smoothing calculator 7 and automatically calculated. The current value B of the ship's bow sway is determined.

This value B is compared by a gain calculator 9 with a value A of the magnitude of the ship's heading sway, which is preset by the azimuth difference setter 8, and a commanded rudder angle gain G is obtained.

In this case, the value A is a constant value during navigation, but the value B changes, and the commanded steering angle gain G by the gain calculator 9
The calculation is performed every predetermined period of time, for example every 3 minutes.

The gain calculator 9 calculates that if value A is more dog than value B.

A command steering angle gain Gl that is smaller than the command steering angle gain Go obtained in the previous comparison is commanded, and if value A is smaller than value B, a command steering angle gain G2 that is smaller than the command steering angle gain Go is commanded. The command is output to the steering angle calculator 10, and the amplification gain of the command steering angle calculator 10 is automatically adjusted.

That is, the automatic adjustment of the amplification gain of the command rudder angle calculator 10 by the gain calculator 9 replaces the manual adjustment by the navigator described above in FIG.

The commanded rudder angle calculator 10 uses the commanded rudder angle gain G from the gain calculator 9 to adjust the ship's heading deviation using the azimuth difference setter 8 in calculating the commanded rudder angle value to match the ship's heading with the destination position output from the azimuth difference calculator 3. A commanded rudder angle value is calculated to maintain the ship's own ship's heading sway at a predetermined value A, and the rudder gear 5 operates the rudder in response to the calculated commanded rudder angle value.

As a result, it becomes possible to automatically steer the ship to maintain the heading direction of the ship predetermined by the heading difference setting device 8.

(Effects of the Invention) As explained above, according to the present invention, the loading status of a ship,
The amount of sway in the ship's heading due to changes in ship speed, sea conditions, and weather can be automatically adjusted to a predetermined amount, which eliminates the burden on the navigator and enables safe ship maneuvering and steering. This has the effect of preventing an increase in fuel consumption due to excessive consumption.

[Brief explanation of drawings]

FIG. 1 is a configuration diagram showing an embodiment according to the present invention. FIG. 2 is a configuration diagram showing a conventional example. 1... Azimuth setting device, 2... Ten thousand position detector, 3... Azimuth difference calculator, 4.10... Command rudder angle calculator, 5...
Rudder gear. 6... Orientation difference absolute value calculator, 7... Smoothing calculator. 8... Orientation difference setter, 9... Gain calculator.

Claims (1)

[Claims] An automatic steering system that automatically controls the rudder to keep the ship's heading in a predetermined direction while the ship is navigating includes a heading setter that sets the destination position of the own ship, and a heading detector that detects the heading of the own ship. , a bearing difference calculator that calculates a bearing difference that is the difference between the destination position and the ship's arrival bearing; a bearing difference absolute value calculator that calculates the absolute value of the bearing difference output from the bearing difference calculator;
A smoothing computer that smoothes the output of the absolute value calculator for heading difference, a heading difference setter that sets the magnitude of the own ship's heading deviation, and commands from the outputs of the smoothing computer and the heading difference setter. a gain calculator that calculates a steering angle gain; a commanded rudder angle calculator that calculates a commanded rudder angle after amplifying the azimuth difference output of the azimuth difference calculator according to a commanded rudder angle gain of the gain calculator; and a commanded rudder angle calculator that calculates a commanded rudder angle; 1. An automatic steering system comprising: a rudder that moves a rudder using the output of the automatic steering device;