JPS6364360B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic position control system for marine structures using an oscillating propeller as a thrust generating device.

The oscillating variable-blade propeller installed on this type of offshore structure is equipped with a turning angle servo mechanism that allows the propeller center axis to change direction 360 degrees, and the propeller generates a large thrust force. It is equipped with a blade angle servo mechanism that controls the propeller blade angle to change the propeller blade angle. Therefore, by appropriately combining the propeller turning angle and the propeller blade angle, the operator of a marine structure such as a ship can generate a desired thrust vector. For example, as shown in Figures 1a and 1b, in a semi-submersible two-lower hull platform 1 intended for deep seabed oil drilling,
Multiple oscillating propellers 2 ₁ to maintain a fixed position during work against disturbances such as wind, currents, waves, etc.
~2 ₄ are equipped. As shown in Figure 1, the platform 1 has two oscillating propellers 2 ₁ , 2 ₂ on the front right and left, and two oscillating propellers 2 ₃ , 2 ₄ on the right and left rear. When equipped with this 4
Conventional control devices for the oscillating propellers 2 ₁ to 2 ₄ of the platform are shown in FIGS. 2a to 2h. The oscillating propellers are referred to as first, second, third, and fourth propellers in the order of right front propeller 2 ₁ , left front propeller 2 ₂ , right rear propeller 2 ₃ , and left rear propeller 2 ₄ . In the figure, 00 is the first blade angle lever, 01 is the first swing angle lever, 02 is the first blade angle servo mechanism, 03 is the first swing angle servo mechanism, 04 is the second blade angle lever, 05 is the second turning angle lever, 06 is the second blade angle servo mechanism, 07 is the second turning angle servo mechanism,
08 is the third blade angle lever, 09 is the third turning angle lever, 10 is the third blade angle servo mechanism, and 11 is the third blade angle lever.
12 is a fourth blade angle lever,
13 is a fourth turning angle lever, 14 is a fourth blade angle servo mechanism, 15 is a fourth turning angle servo mechanism, and the first to fourth propellers 2 ₁ to 2 ₄ are the first to fourth propellers. blade angle lever and the first to fourth
It is designed to be operated by each of the swing angle levers.

Since the operation of each of the control devices of the first to fourth four oscillating variable-wing propellers is exactly the same, from now on, only the operation of the control device of the right front propeller ₂₁ will be explained. First, the pilot adjusts the magnitude of thrust by moving the wing angle lever 00,
The direction of thrust is adjusted by moving the turning angle lever 01. If you operate the wing angle lever 00 now,
The blade angle servo mechanism 02 operates and the right forward propeller 2
The blade angle of ₁ is determined, and the magnitude of the generated thrust is determined. Further, when the turning angle lever 01 is operated, the turning angle servo mechanism 03 is operated to determine the direction of the thrust of the right front propeller 2 ₁ . This determines the thrust vector T ₁ of the right front propeller 2 ₁ as shown in FIG. Similarly, when the pilot operates the other three wing angle levers and turning angle levers, the desired thrust vectors T ₂ , T ₃ , and T ₄ are generated, and the combination of these thrust vectors controls wind, current, etc. The purpose is to maintain the platform 1 in a fixed position against external disturbances.

Next, the combinations of four thrust vectors for holding the platform 1 in a fixed position will be described in detail below. When the platform 1 is subjected to a disturbance such as wind or current from the right front as shown by the arrow in FIG. 4, the platform 1 receives a resistance force F at the center of gravity G and a resistance moment M around the center of gravity. Therefore, the state is equivalent to a force F _T acting on a point O ahead of the center of gravity G. This resistance force F _T
In order to _maintain the position and orientation _{of the} platform ₁ against
A combination of types is possible. Vector T ₁₂ in the diagram
is the resultant force vector of thrust vectors T ₁ and T ₂ , vector T ₃₄ is the resultant force vector of thrust vectors T ₃ and T ₄ ,
Let the points of action on the center line of the platform 1 be O ₁ and O ₂ , respectively. Among the three types of thrust vector combinations shown in Fig. 5 a, b, and c, fixed position control of platform 1 is stable against disturbances such as wind or tidal current from the right front of platform 1. can be realized only by the combination of thrust vectors shown in FIG. 5a. Now, when platform 1 is receiving a disturbance from the right front,
Consider a situation in which the platform 1 is held in a fixed position against the disturbance force F _T by the combination of thrust vectors shown in FIG. 5a. Platform 1
Assuming that the planar motion of the platform 1 is a motion in a vertical plane, the planar motion of the platform 1 can be replaced with pendulum motion in a gravitational field. In other words, in Fig. 5a, an upward combined thrust vector T34 acts against the downward disturbance force F _T acting on point O and the downward combined thrust vector T ₃₄ acting on _two points O.
T ₁₂ acts on the O ₁ point and the force is kept in equilibrium. Therefore, in Figure 5a, platform 1
can be assumed to be a stable pendulum with its fulcrum at point _O and receiving forces F _T and T ₃₄ . As a result of the above, when the platform 1 receives a disturbance force from the right front, the platform 1
First and second oscillating propellers 2 in front
₁ and 2 ₂ generate forward thrusts T ₁ and T ₂ , and the third and fourth oscillating propellers 2 ₃ and 2 ₄ located behind the platform 1 generate backward thrusts T ₃ and T ₄ . , the motion of platform 1 is O ₁
It can be regarded as a stable pendulum with a point as a fulcrum, and stable attitude control of platform 1 can be achieved against disturbance force F _T. Stable position holding control is possible by adjusting backward thrust T ₃₄ . I understand that.

Next, consider a situation in which the platform 1 is held in a fixed position against the disturbance force F _T received from the right front by a combination of thrust vectors as shown in FIG. 5b. In Figure 5b, in opposition to the downward disturbance force F _T acting on point O and the downward combined thrust vector T ₁₂ acting on point O ₁ , an upward combined thrust vector T ₃₄ acts on point O ₂ . A state of force equilibrium is maintained. Platform 1 can therefore be configured as an inverted pendulum which is fulcrumed at point O ₂ and is subjected to forces F _T and T ₁₂ . As described above, in response to the disturbance force that the platform 1 receives from the right front, the two swing-type propellers 2 ₁ and 2 ₂ in the front generate backward thrusts T ₁ and T ₂ , and the two swing-type propellers in the rear Forward thrust T ₃ and propellers 2 ₃ and 2 ₄
When T ₄ is generated, the motion of platform 1 can be regarded as an inverted pendulum with the fulcrum at point O ₂ , and stable posture control against the disturbance force F _T is impossible, resulting in stable position maintenance control. will not be possible.

Similarly, consider a situation in which the platform 1 is held in a fixed position against the disturbance force F _T received from the right front by a combination of thrust vectors as shown in FIG. 5c. Since the two oscillating propellers 2 ₁ and 2 ₂ in front of the platform 1 generate forward thrust, the platform 1 is considered to be a stable pendulum with the O ₁ point as the fulcrum. On the other hand, since the two oscillating propellers 2 ₃ and 2 ₄ at the rear of the platform 1 also generate forward thrust, the platform 1
can be considered as an inverted pendulum with the fulcrum at the _O2 point. Therefore, as can be seen from the explanation of the cases in FIGS. 5a and 5b above, the motion of the platform 1 realizing the combination of thrust vectors in FIG. 5c is as follows:
It is thought to be a combination of stable pendulum motion with _one point O as a fulcrum and inverted pendulum motion with _two points O as a fulcrum, but stable pendulum motion with _one point O as a fulcrum is based on a platform as described in Figure 5a. The inverted pendulum motion with the _O2 point as a fulcrum enables stable posture control of platform 1, but as described in Figure 5b, stable posture control of platform 1 is possible.
posture control is impossible. Therefore, stable fixed position control of the platform 1 cannot be expected with the combination of thrust vectors shown in FIG. 5c. Furthermore, Figures 6a, b, and c show combinations of thrust vectors of the oscillating propeller that can realize stable fixed position control for platform 1 against disturbances from all directions other than the right front. .

As a result of the above, stable fixed position holding control of platform 1, which has two oscillating propellers at the front and rear, is achieved only by the combination of thrust vectors shown in Figure 5a in response to disturbances from the right front. It is possible. Therefore, the pilot should follow Figure 5a above.
Operate the four wing angle levers and four turning angle levers so that the thrust vector combination is as follows.
Efforts are made to keep platform 1 on target and in a predetermined orientation. However, as described above, in the platform 1 equipped with two oscillating propellers 2 ₁ to 2 ₄ at the front and rear, the operator can measure the position and orientation deviation of the platform 1 using a measuring instrument. It is an extremely difficult task to maintain a fixed position by operating eight operation variables, ie, four wing angle levers and four turning angle levers, while making judgments, which places a large labor burden on the operator and reduces work efficiency. It's summery.

This invention was made in consideration of the above circumstances, and its purpose is to provide a marine structure in which two thrust generating devices such as oscillating propellers or bladed propellers are arranged on the left and right sides of the front and rear sides. An object of the present invention is to provide an automatic position control device for a marine structure that has high position holding performance and turning performance and can reduce the labor burden on an operator.

That is, in this invention, in a platform equipped with two oscillating propellers at the front and rear, respectively, a position setting device and a direction setting device for inputting setting values desired by the operator, a position detector, and a gyro compass are provided. , a ship position deviation converter, a PID controller, an adder, a subtracter, a code converter, a wing angle detector, and a turning angle detector, and by skillfully combining these, the pilot can control the wing angle lever, The thrust vector of the oscillating propeller is automatically adjusted in response to disturbance forces such as wind and tidal currents, without having to operate the turning angle lever at all, and the platform can be maintained at the position and orientation desired by the pilot. It has been made possible.

Hereinafter, one embodiment of the present invention will be described with reference to the drawings. FIG. 7 is a block diagram showing an automatic position control system for marine structures according to the present invention. In the figure, 500 is a position setter, 501 is a direction setter, 502 is a position detector, 503 is a gyro compass, 504 is a first subtractor, 505 is a second subtractor, 506 is a third subtractor, 507 is a position error converter, 508 is a first PID controller, 509 is a second PID controller, 510 is a third PID controller, 5
11 is the fourth PID controller, 512 is the fifth PID controller, 513 is the sixth PID controller, and 514 is the seventh PID controller.
PID controller, 515 is the eighth PID controller, 51
6 is the 9th PID controller, 517 is the 10th PID controller, 518 is the 11th PID controller, and 519 is the 12th PID controller.
PID controller, 520 is the 13th PID controller, 521
is the 14th PID controller, 522 is the 15th PID controller, 523 is the 16th PID controller, and 524 is the 17th PID controller.
PID controller, 525 is the 18th PID controller, 526
is the 19th PID controller, 527 is the 20th PID controller, 528 is the 21st PID controller, and 529 is the 22nd PID controller.
PID controller, 530 is the 23rd PID controller, 531
is the 24th PID controller, 532 is the first code converter, 533 is the first adder, 534 is the first automatic manual switching device, 535 is the first blade angle detector, 53
6 is a first multiplier, 537 is a second code converter,
538 is a second adder, 539 is a second automatic manual switching device, 540 is a first turning angle detector, 541
is the third code converter, 542 is the third adder, 5
43 is a third automatic manual switching device, 544 is a second blade angle detector, 545 is a second multiplier, 546 is a fourth code converter, 547 is a fourth adder, 548
549 is the second turning angle detector, 550 is the fifth code converter, 551 is the fifth adder, 552 is the fifth automatic manual switching device, 553 is the third 554 is a third multiplier, 555 is a sixth code converter, 556 is a sixth adder, 557 is a sixth automatic manual switching device,
558 is the third turning angle detector, 559 is the seventh code converter, 560 is the seventh adder, and 561 is the seventh
562 is a fourth blade angle detector, 563 is a fourth multiplier, 564 is an eighth code converter, 565 is an eighth adder, and 566 is an eighth automatic manual switching device. , 567 is the fourth turning angle detector, and 00 is the first blade angle lever, 01 is the first turning angle lever, and 02 is the first turning angle lever.
blade angle servo mechanism, 03 is the first turning angle servo mechanism, 04 is the second blade angle lever, 05 is the second turning angle lever, 06 is the second blade angle servo mechanism, 07 is the second turning angle servo mechanism. Angle servo mechanism, 08 is a third blade angle lever, 09 is a third turning angle lever, 10 is a third blade angle servo mechanism, 11 is a third turning angle servo mechanism,
12 is a fourth blade angle lever, 13 is a fourth turning angle lever, 14 is a fourth blade angle servo mechanism, and 15 is a fourth blade angle lever.
This is a turning angle servo mechanism.

Next, the operation of the apparatus configured as described above will be explained. First, the operator inputs position coordinate settings (x _s , y _s ) in a predetermined space fixed coordinate system (x, y) into the position setting device 500 and platform azimuth setting values Ψ _s into the azimuth setting device 501 . give each.
(See Figure 8, the x-axis corresponds to Ψ = 0 degrees)
Further, the position detector 502 detects the position coordinates (x, y) of the platform 1, and the gyro compass 502 detects the position coordinates (x, y) of the platform 1.
03 detects the platform orientation Ψ. 1st
and second subtractors 504 and 505 are position deviation signals (Δx=x−x _S ) (Δy=y=y−y _S ) which are the difference between the output signals of the position setter 500 and the position detector 502.
Output each. Furthermore, a third subtractor 50
6 is a direction setter 501 and a gyro compass 503
The azimuth deviation signal (ΔΨ=Ψ _s −
Ψ) is output. The position error converter 507 receives the position error signals (Δx, Δy) and the orientation setting signal Ψ _s
Therefore, a positional deviation signal Δx ₀ in the set azimuth direction and a positional deviation signal Δy ₀ perpendicular to the set azimuth direction are output based on the following calculation formula (1). Coordinates (Δx ₀ , Δy ₀ )
In FIG. 8, represents the set orientation Ψ _s orientation and position coordinates in a coordinate system (x ₀ , y ₀ ) in which the coordinate axes are aligned perpendicularly thereto.

Δx ₀ = ΔxcosΨ _s + ΔysinΨ _s Δy ₀ = −ΔxsinΨ _s + ΔycosΨ _s ...(1) Below, the thrust of an oscillating propeller is expressed as a vector, and "the amount of thrust" means the magnitude of the vector and is proportional to the propeller blade angle. Expressed as a quantity and symbol. "Thrust direction" means the direction of a vector and is represented by the symbol θ, and the sign convention is that a positive thrust amount represents a forward thrust and a negative thrust amount represents a backward thrust. Further, the direction of thrust is set to zero degrees in the direction of the center line of the platform 1, the direction of thrust on the starboard side is positive, and the direction of thrust on the port side is negative, with ±90 degrees being the maximum thrust direction. The thrust direction of the backward thrust is the angle formed by extending the vector arrow to the opposite side and forming the platform center line (Figure 9a).
- d).

The first and second PID controllers 508 and 509 input the output signal Δx ₀ of the position error converter 507 and generate a request signal ₁ x for the thrust amount of the first oscillating propeller 2 ₁ and a request signal θ for the thrust direction. This is a controller that outputs ₁ x and plays the role of ensuring that the position difference Δx ₀ becomes zero. Here, the request signal _1x and θ _1x for the first oscillating propeller 2 ₁ are as follows.

_1x = K _px1 Δx ₀ +K _Ix1 ∫Δ ₀ dt+K _Dx1 d/dt (Δx ₀ ) ...(2) (Here, set K _px1 , K _Ix1 , K _Dx1 < 0) θ _1x = K _px2 Δx ₀ +K _Ix2 ∫Δx ₀ dt+K _Dx2 d/dt (Δx ₀ ) ...(3) (Here, let K _px2 , K _Ix2 , K _Dx2 > 0) Here, Δx ₀ is the distance shown in Figure 10. . 1st
As shown in Figure 0, when Δx ₀ > 0, that is, when the position of platform 1 is above the y ₀ axis in the coordinate system (x ₀ , y ₀ ), _1x is negative from equation (2), and the first
The position of the platform ₁ is set by requesting the amount of backward thrust from the propeller 2 1 of the set position (x _s ,
y _s ). From equation (3), θ _1x is positive and when the thrust vector is in the states shown in Figure 11 a and b, the thrust vector rotates in the direction of the arrow and reduces the thrust component in the longitudinal direction of platform 1. An attempt is made to lower the platform 1 backwards and return it to the set position. In order to return the platform 1 to the set position when the thrust vector is in the states shown in FIG. 11c and d, it is necessary to rotate the thrust vector in the direction of the arrow. For this purpose, the required signal θ _1x in the thrust direction needs to be negative. In the case of Fig. 11 a, b, the thrust vector is the product ₁ θ 1 of the thrust amount detection signal ₁ and the turning angle detection signal θ ₁ is positive, and in Fig _. 11 c, d
In this case, ₁ θ ₁ is negative in the thrust vector, so
In order to return the platform 1 to the set position, the second PID controller 509 must change the sign of the request signal θ _1x for the thrust direction calculated from equation (3) if the product ₁ θ ₁ of the detection signals is negative. It is necessary to invert and output. The role of inverting the sign of the thrust direction request signal θ _1x when ₁ θ ₁ is negative is performed by a sign converter described later. Further, when Δx ₀ <0, _1x becomes positive from equation (2) and attempts to return the platform 1 to the set position by requesting forward thrust from the first propeller 2 ₁ . From equation (3), θ _1x is negative, and when the thrust vector is in the states shown in Fig. 11 a, b, the thrust vector rotates in the direction opposite to the arrows in Fig. 11 a, b, and the platform 1 trying to move it back to the front. When the thrust vector is in the states shown in Figures 11c and d, the sign of the request signal _θ1x is inverted and made positive, so the thrust vector rotates in the opposite direction to the direction of the arrows in Figure 11c and d. the platform 1 to return it to the set position. The integral term in the second term of equations (2) and (3) above is the state in which the platform 1 returns to the set position when there is a disturbance such as wind or tidal current, and the position deviation Δx ₀ is zero (in this case, (2 ), the request signal according to the first term of equation (3) becomes zero), it plays the role of outputting the request signal so that the first oscillating propeller 2 ₁ continues to maintain a thrust vector that can counter the disturbance force. . (2), (3)
The differential term in the third term of the equation has a braking effect on the thrust vector of the first propeller 21 to prevent it from going beyond the set position when the platform ₁ is returning to the set position due to the thrust vector of the first propeller. It plays the role of realizing stable position control by providing

The third and fourth PID controllers 510, 511
With the position deviation signal Δx ₀ in the x ₀ axis direction as input, the second
Request signal for thrust amount of oscillating propeller 2 _2
2x and a request signal θ _2x for the thrust direction so that the positional deviation Δx ₀ becomes zero. Here, the request signal _2x and θ _2x for the second oscillating propeller 2 ₂ are as follows.

_2x = K _px3 Δx ₀ +K _Ix3 ∫Δx ₀ dt+K _Dx3 d/dt (Δx ₀ ) ...(4) (Here, set K _px3 , K _Ix3 , K _Dx3 < 0) θ _2x = K _px4 Δx ₀ +K _Ix4 ∫Δx ₀ dt+K _Dx4 d/dt (Δx ₀ ) ...(5) (here, K _px4 , K _Ix4 , K _Dx4 > 0 is defined) Third PID controller for second propeller 2 ₂ The role of the controller 510 is exactly the same as that of the first PID controller 508 for the first propeller 2 ₁ described above, so a description of the operation will be omitted. The role of the fourth PID controller 511 is the same as that of the second PID controller 509 described above, and the fourth PID controller 511 detects the thrust amount detection signal ₂ of the second propeller 2 ₂ and the turning angle. If the product of the signals θ ₂ is negative, it is necessary to invert the sign of the request signal θ _2x and output it.

The fifth and sixth PID controllers 512 and 513
With the position deviation signal Δx ₀ in the x ₀ axis direction as input, the third
Request signal for thrust amount of oscillating propeller 2 _3
3x and a request signal θ _3x for the thrust direction so that the positional deviation Δx ₀ becomes zero. Here, the request signal _3x and θ _3x for the third oscillating propeller 2 ₃ are as follows.

_3x = K _px5 Δx ₀ +K _Ix5 ∫Δx ₀ dt+K _Dx5 d/dt (Δx ₀ ) ...(6) (Here, set K _px5 , K _Ix5 , K _Dx5 <0) θ _3x = K _px6 Δx ₀ +K _Ix6 ∫Δx ₀ dt+K _Dx6 d/dt (Δx ₀ ) ...(7) (here, K _px6 , K _Ix6 , K _Dx6 > 0 is defined) Fifth PID controller for third propeller 2 ₃ The role of the controller 512 is exactly the same as the role of the first PID controller 508 for the first propeller 2 ₁ described above, so a description of the operation will be omitted. The role of the sixth PID controller 513 is the same as the role of the second PID controller 509 described above, and the sixth PID controller 513 detects the thrust amount detection signal ₃ of the third propeller ₂₃ and the turning angle. If the product of the signals θ ₃ is negative, it is necessary to invert the sign of the request signal θ _3x and output it.

The seventh and eighth PID controllers 514 and 515
With the position deviation signal Δx ₀ in the x ₀ axis direction as input, the fourth
A request signal _4x for the amount of thrust of the propeller 2 ₄ and a request signal θ _4x for the thrust direction are outputted so that the positional deviation Δx ₀ becomes zero. Here, the request signal _4x and θ _4x for the fourth oscillating propeller 2 ₄ are as follows.

_4x = K _px7 Δx ₀ +K _Ix7 ∫Δx ₀ dt+K _Dx7 d/dt (Δx ₀ ) ...(8) (K _px7 , K _Ix7 , K _Dx7 <0) θ _4x = K _px8 Δx ₀ +K _Ix8 ∫Δx ₀ dt+K _Dx8 d/dt (Δx ₀ ) ...(9) (K _px8 , K _Ix8 , K _Dx8 >0 is defined) The role of the seventh PID controller 514 for the fourth propeller ₂₄ is Since the role is exactly the same as that of the first PID controller 508 for the first propeller described above, a description of the operation will be omitted. Eighth PID controller 51
5 is the same as the role of the second PID controller 509 described above, and the eighth PID controller 515 determines that the product of the thrust amount detection signal ₄ of the fourth propeller ₂₄ and the turning angle detection signal _θ4 is If it is negative, it is necessary to invert the sign of the request signal θ _4x and output it.

Similar to the integral terms in equations (2) and (3), the integral terms in equations (4) to (9) above determine the thrust vector that can counter the disturbance force even when the positional deviation Δx ₀ of platform 1 is zero. It plays the role of holding each propeller in place. Also
Similar to the differential terms in equations (2) and (3), the differential terms in equations (4) to (9) provide stability by giving a braking effect to the thrust vector of each propeller when correcting the position error of platform 1. It plays the role of realizing position control.

The ninth and tenth PID controllers 516 and 517 receive the output signal Δy ₀ of the position error converter 507 as input, and generate a request signal _1y for the amount of thrust of the first oscillating propeller 2 ₁ and a request signal θ _1y for the thrust direction. It plays the role of outputting and ensuring that the positional deviation Δy ₀ becomes zero. Here, the request signals _1y and θ _1y for the first oscillating propeller 2 ₁ are as follows.

_1y = K _py9 Δy ₀ +K _Iy9 ∫Δy ₀ dt+K _Dy9 d/dt (Δy ₀ ) ...(10) (Here, set K _py9 , K _Iy9 , K _Dy9 < 0) θ _1y = K _py10 Δy ₀ +K _Iy10 ∫Δy ₀ dt＋K _Dy10 d/dt(Δy
₀ )...(11) (Here, it is determined that K _py10 , K _Iy10 , K _Dy10 <0) Here, Δy ₀ is the distance shown in FIG. If platform 1 is moved from the front right by disturbances such as wind and current and comes to the left of the x ₀ axis, then Δy ₀ < 0, and from equation (10), the first swing The request signals _1y and θ _1y for the propeller 2 ₁ are as follows. _1y >0 θ _1y >0 Therefore, the thrust vector of the first oscillating propeller ₂₁ is within the first quadrant as shown in Figure 13a, and the thrust vector of the first oscillating propeller 21 is within the first quadrant as shown in Figure 13a, and the The thrust vector T ₁ shown in the figure is realized, and stable fixed position control is possible.

Next, when platform 1 comes to the right side of the x ₀ axis due to disturbance from the left front, in other words when Δy ₀ > 0, from equations (10) and (11), the thrust vector of the first propeller 2 ₁ is The request signals _1y and θ _1y are as follows. _1y <0 θ _1y <0 Therefore, the thrust vector of the first propeller 2 ₁ occurs in the fourth quadrant as shown by the dashed arrow in Fig. 13b, and in this thrust vector, the positional deviation increases more and more. It turns out. However, as mentioned above, the combination of thrust vectors that can realize stable fixed position control of the platform 1 against left front disturbances must be the combination shown in FIG. 6a, so the turning angle detection signal θ If ₁ is negative, it is necessary to convert the sign of the thrust amount request signal _1y .
Therefore, when the turning angle detection signal θ ₁ of the first propeller 2 ₁ is negative, the ninth PID controller 516 converts the sign of the thrust amount request signal _1y and outputs it.
The thrust vector shown by the solid arrow in FIG. 3b can be realized in the first propeller ₂₁ , and stable position control of the platform 1 can be achieved. Turning angle detection signal θ ₁
The role of converting the sign of the thrust amount request signal _1y when is negative is performed by a sign converter, which will be described later.

The 11th and 12th PID controllers 518 and 519
With the position deviation signal Δy ₀ in the y ₀ axis direction as input, the second
Request signal for thrust amount of oscillating propeller 2 _2
2y and a request signal θ _2y for the thrust direction so that the positional deviation Δ _y0 becomes zero. Here the second
Request signal _2y for the oscillating propeller 2 ₂ , θ _2y
becomes as follows.

_2y =K _py11 Δy ₀ +K _Iy11 ∫Δy ₀ dt+K _Dy11 d/dt(Δy
₀ ) ...(12) (Here we set K _py11 , K _Iy11 , K _Dy11 < 0) θ _2y = K _py12 Δy ₀ +K _Iy12 ∫Δy ₀ dt＋K _Dy12 d/dt(Δy
₀ ) ...(13) (Here we define K _py12 , K _Iy12 , K _Dy12 <0) The 11th and 12th for the second propeller 2 ₂
The role of the PID controllers 518 and 519 is to
propellers 2 _and 10 respectively for 1
Since the role is exactly the same as that of the PID controllers 516 and 517, explanation of the operation will be omitted. first propeller 2
₁ , the 11th PID controller 518
When the turning angle detection signal θ ₂ of the propeller 2 ₂ is negative, the sign of the thrust amount request signal _2y is converted and output, so that the second propeller 2 ₂ has a thrust vector that enables stable position control. can be realized.

The 13th and 14th PID controllers 520 and 521
Using the position deviation signal Δy ₀ in the y ₀ axis direction as input, the third
Request signal for thrust amount of oscillating propeller 2 ₃
A request signal θ _3y for _3y and the thrust direction is output so that the positional deviation Δy ₀ becomes zero. Here, the request signals _3y and θ _3y for the third propeller 2 ₃ are as follows.

_3y =K _py13 Δy ₀ +K _Iy13 ∫Δy ₀ dt+K _Dy13 d/dt(Δy
₀ ) ...(14) (Here we set K _py13 , K _Iy13 , K _Dy13 <0) θ _3y = K _py14 Δy ₀ +K _Iy14 ∫Δy ₀ dt＋K _Dy14 d/dt(Δy
₀ ) ...(15) (Here, set K _py14 , K _Iy14 , K _Dy14 > 0) Platform 1 receives a disturbance from the right front.
If it comes to the left side of the x ₀ axis (see Figure 14a),
At this time, Δy ₀ <0, (14), and from equation (15), the third
Request signal for thrust vector of propeller 2 _3
3y and θ _3y are as follows. _3y > 0 θ _3y < 0 Therefore, the thrust vector of the third propeller 2 ₃ occurs in the second quadrant as shown by the dashed arrow in Figure 14a, and in this thrust vector, the positional deviation increases more and more. I will let you do it. However, as mentioned above, the combination of thrust vectors that can realize stable position control of the platform 1 against disturbances in the front right direction must be the combination shown in _FIG . As in the case of the request signal, when the turning angle detection signal θ ₃ is negative, it is necessary to convert the sign of the thrust amount request signal _3y . Therefore, when the turning angle detection signal θ ₃ of the third propeller 2 ₃ is negative, the 13th PID controller 520 converts the sign of the thrust amount request signal _3y and outputs it.
The thrust vector indicated by the solid arrow in Figure a can be realized in the third propeller ₂₃ , and stable position control of the platform 1 is possible. Further, when the turning angle detection signal θ ₃ is negative, a code converter, which will be described later, performs the role of converting the sign of the thrust amount request signal _3y .

Next _, if the platform 1 receives a disturbance from the front _left and comes to the right _side of the The signals _3y and θ _3y are as follows. _3y <0 θ _3y >0 Therefore, the thrust vector of the third propeller 2 ₃ occurs in the third quadrant as shown in Fig. 14b, and the thrust shown in Fig. 6a is generated in response to the disturbance from the left front. A vector is realized and stable fixed position control is possible.

The 15th and 16th PID controllers 522 and 523
With the position deviation signal Δy ₀ in the y ₀ axis direction as input, the fourth
Request signal for thrust amount of oscillating propeller 2 _4
4y and the request signal θ _4y for the thrust direction so that the positional deviation Δy ₀ becomes zero. The request signals _4y and θ _4y for the fourth oscillating propeller 2 ₄ are as follows.

_4y =K _py15 Δy ₀ +K _Iy15 ∫Δy ₀ dt+K _Dy15 d/dt(Δy
₀ ) ...(16) (Here we set K _py15 , K _Iy15 , K _Dy15 <0) θ _4y = K _py16 Δy ₀ +K _Iy16 ∫Δy ₀ dt＋K _Dy16 d/dt(Δy
₀ ) ...(17) (Here we define K _py16 , K _Iy16 , K _Dy16 > 0) The 15th and 16th propellers for the 4th propeller 2 ₄
The role of the PID controllers 522 and 523 is the third
13th and 14th respectively for propellers 2 _{and 3}
Since the role is exactly the same as that of the PID controllers 520 and 521, the explanation of the operation will be omitted. As in the case of the third propeller ₂₃ , the fifteenth PID controller 522 is
When the turning angle detection signal θ ₄ of the fourth propeller 2 ₄ is negative, the fourth propeller 2 ₄ enables stable position control by converting the sign of the thrust amount request signal _4y and outputting it. Thrust vector can be realized.

The integral term in the second term of equations (10) to (17) above applies even when the platform 1 returns to the set position and the position deviation Δy ₀ is zero (at this time, the request signal due to the first term becomes zero). It plays the role of outputting a request signal so that each oscillating propeller continues to maintain a thrust vector capable of resisting disturbances such as wind and current. In addition, the differential term in the third term of equations (10) to (17) is determined by the thrust vector of each propeller.
When the propeller is returning to the set position, the thrust vector of the propeller has a braking effect to prevent it from going too far beyond the set position, thereby achieving stable position control.

The 17th and 18th PID controllers 524 and 525 input the output of the third subtractor 506, that is, the azimuth deviation signal ΔΨ, and the output signal Ψ of the gyro compass 503, and receive the thrust amount of the first oscillating propeller ₂₁ . It outputs a request signal ₁ 〓 for the thrust direction and a request signal θ ₁ 〓 for the thrust direction, and plays the role of making the azimuth deviation ΔΨ become zero. The request signals ₁ 〓, θ ₁ 〓 for the first oscillating propeller 2 ₁ are as follows.

₁ 〓＝K _P 〓 ₁₇ ΔΨ＋K _I 〓 ₁₇ ∫ΔΨdt−K _D 〓 ₁₇ dΨ／dt ...(18) (Here, set K _p 〓 ₁₇ , K _I 〓 ₁₇ , K _D 〓 ₁₇ <0) θ ₁ 〓＝K _p 〓 ₁₈ ΔΨ＋K _I 〓 ₁₈ ∫ΔΨdt−K _D 〓 ₁₈ dΨ／dt ……(19) (Here, set K _p 〓 ₁₈ , K _I 〓 ₁₈ , K _D 〓 ₁₈ >0 ) When platform 1 receives a disturbance and the direction deviation signal (ΔΨ = Ψ _s - Ψ) is positive, that is, the first
As shown in Figure 5a, when it is necessary to turn the platform direction to the right, the required signal ₁ 〓, θ ₁ for the thrust vector of the first oscillating propeller 2 ₁ is obtained from equations (18) and (19). 〓 becomes as follows. ₁ 〓<0 θ ₁ 〓>0 Therefore, the thrust vector of the first propeller 2 ₁ is realized within the third quadrant as shown in FIG. 15a.

The 19th and 20th PID controllers 526 and 527 input the azimuth deviation signal ΔΨ and the output signal Ψ of the gyro compass 503, and control the second oscillating propeller 2.
This controller outputs a request signal ₂ 〓 for the thrust amount of ₂ and a request signal θ ₂ 〓 for the thrust direction so that the azimuth deviation ΔΨ becomes zero. Second propeller 2 ₂
The request signals ₂ 〓, θ ₂ 〓 for θ 2 〓 are as follows.

₂ 〓＝K _p 〓 ₁₉ ΔΨ＋K _I 〓 ₁₉ ∫ΔΨdt−K _D 〓 ₁₉ dΨ／dt ...(20) (Here, set K _p 〓 ₁₉ , K _I 〓 ₁₉ , K _D 〓 ₁₉ >0) θ ₂ 〓＝K _p 〓 ₂₀ ΔΨ＋K _I 〓 ₂₀ ∫ΔΨdt−K _D 〓 ₂₀ dΨ／dt ……(21) (Here, set K _p 〓 ₂₀ , K _I 〓 ₂₀ , K _D 〓 ₂₀ ＞0 ) As shown in Fig. 15a, when the azimuth deviation signal ΔΨ of the platform 1 is positive, from equations (20) and (21), the required signal ₂ for the thrust vector of the second oscillating propeller 2 ₂ 〓, θ ₂ 〓 becomes as follows. ₂ 〓＞0 θ ₂ 〓＞0 Therefore, when the direction deviation signal ΔΨ is positive, the second
The thrust vector of the propeller 2 ₂ is realized in the first quadrant as shown in FIG. 15a. As a result of the above, when the azimuth deviation signal ΔΨ is positive _, as shown in _FIG . It can be seen that a combination is formed.

On the other hand, as shown in Fig. 15b, if the azimuth deviation signal ΔΨ of platform 1 is negative, (18), (19)
From the formula, the required signals ₁ 〓 and θ ₁ 〓 for the thrust vector of the first propeller 2 ₁ are as follows. ₁ 〓>0 θ ₁ 〓<0 Therefore, the thrust vector of the first propeller 2 ₁ is realized within the second quadrant as shown. Similarly, when the azimuth deviation signal ΔΨ is negative, the required signals ₂ 〓 and θ ₂ 〓 for the thrust vector of the second propeller 2 ₂ are as follows from equations (20) and (21). ₂ 〓<0 θ ₂ 〓<0 Therefore, the thrust vector of the second propeller 2 ₂ is realized within the fourth quadrant as shown. As a result of the above, when the azimuth deviation signal ΔΨ is negative, Fig. 15b
As shown in FIG. 2, a combination of thrust vectors is formed in the first propeller 2 ₁ and the second propeller 2 ₂ that generates a turning moment that reduces the azimuth deviation ΔΨ.

The 21st and 22nd PID controllers 528 and 529 input the azimuth deviation signal ΔΨ and the output signal Ψ of the gyro compass 503, and control the third oscillating propeller 2.
This controller outputs a request signal ₃ 〓 for the thrust amount of ₃ and a request signal θ ₃ 〓 for the thrust direction so that the azimuth deviation ΔΨ becomes zero. Third propeller 2 ₃
The request signals ₃ 〓, θ ₃ 〓 for θ 3 〓 are as follows.

₃ 〓＝K _p 〓 ₂₁ ΔΨ＋K _I 〓 ₂₁ ∫ΔΨdt−K _D 〓 ₂₁ dΨ／dt ...(22) (Here, set K _p 〓 ₂₁ , K _I 〓 ₂₁ , K _D 〓 ₂₁ <0) θ ₃ 〓＝K _p 〓 ₂₂ ΔΨ＋K _I 〓 ₂₂ ∫ΔΨdt−K _D 〓 ₂₂ dΨ／dt ...(23) (Here, set K _p 〓 ₂₂ , K _I 〓 ₂₂ , K _D 〓 ₂₂ >0 ) When the platform 1 receives a disturbance and the azimuth deviation signal ΔΨ is positive, the required signals ₃ 〓, θ ₃ 〓 for the thrust vector of the third oscillating propeller 2 ₃ are obtained from equations (22) and (23). It will look like this: ₃ 〓<0 θ ₃ 〓>0 Therefore, the thrust vector of the third propeller 2 ₃ is realized within the third quadrant as shown in FIG. 16a.

The 23rd and 24th PID controllers 530 and 531 input the azimuth deviation signal ΔΨ and the azimuth signal Ψ, and generate a request signal ₄ 〓 for the thrust amount of the fourth oscillating propeller 2 ₄ and a request signal θ ₄ 〓 for the thrust direction. output,
This is a controller that makes the azimuth deviation ΔΨ zero. Request signal ₄ for the fourth propeller 2 ₄ 〓,
θ ₄ 〓 becomes as follows.

₄ 〓＝K _p 〓 ₂₃ ΔΨ＋K _I 〓 ₂₃ ∫ΔΨdt−K _D 〓 ₂₃ dΨ／dt ...(24) (Here, set K _p 〓 ₂₃ , K _I 〓 ₂₃ , K _D 〓 ₂₃ > 0) θ ₄ 〓＝K _p 〓 ₂₄ ΔΨ＋K _I 〓 ₂₄ ∫ΔΨdt−K _D 〓 ₂₄ dΨ／dt ……(25) (Here, set K _p 〓 ₂₄ , K _I 〓 ₂₄ , K _D 〓 ₂₄ ＞0 ) When the azimuth deviation signal ΔΨ of _the platform 1 _is positive as shown in FIG _. 〓 becomes as follows. ₄ 〓＞0 θ ₄ 〓＞0 Therefore, when the direction deviation signal ΔΨ is positive, the fourth
The thrust vector of the propeller 2 ₄ is realized within the first quadrant as shown. As a result of the above, when the azimuth deviation signal ΔΨ is positive, a combination of thrust vectors that generates a turning moment that reduces the azimuth deviation is formed in the third propeller 2 ₃ and the fourth propeller 2 ₄ as shown in the figure. I understand that.

On the other hand, if the azimuth deviation signal ΔΨ of platform 1 is negative as shown in FIG. 16b, (22), (23)
From the formula, the required signals ₃ 〓 and θ ₃ 〓 for the thrust vector of the third propeller 2 ₃ are as follows. ₃ 〓>0 θ ₃ 〓<0 Therefore, the thrust vector of the third propeller 2 ₃ is realized within the second quadrant as shown. Similarly, when the azimuth deviation signal ΔΨ is negative, the request signal ₄ 〓, θ ₄ 〓 for the thrust vector of the fourth propeller 2 ₄
From equations (24) and (25), it becomes as follows. ₄ 〓<0 θ ₄ 〓<0 Therefore, the thrust vector of the fourth propeller 2 ₄ is realized within the fourth quadrant as shown. As described above, when the azimuth deviation signal ΔΨ is negative, the third propeller 2 ₃ and the fourth propeller 2 ₄ have a thrust vector that generates a turning moment that reduces the azimuth deviation, as shown in FIG. 16b. A combination is formed.

The second integral term in equations (18) to (25) above is the azimuth deviation ΔΨ when the platform 1 returns to the set direction.
The role of outputting a request signal so that each oscillating propeller continues to maintain a thrust vector that can counter disturbance forces such as wind and current even when fulfill. Furthermore, the differential term in the third term of equations (18) to (25) is expressed as follows: When the platform 1 is returning to the set orientation due to the thrust vector of each propeller,
It plays the role of achieving stable azimuth control by providing a braking effect to the propeller's thrust vector so that it does not go beyond the set azimuth.

The first code converter 532 controls the amount of thrust of the first propeller 2 ₁ output by the ninth PID controller 516 when the turning angle of the first oscillating propeller 2 ₁ is negative, that is, the thrust vector is leftward. It has the role of converting the sign of the request signal to realize a thrust vector that allows the first propeller 2 ₁ to effectively correct the positional deviation Δy ₀ . Therefore, the first code converter 532 inputs each output signal of the ninth PID controller 516 and the turning angle detector of the first propeller ₂₁ described later, and when the turning angle detection signal θ ₁ is negative, converts the sign of the output signal of the ninth PID controller 516 and outputs it, and if the turning angle detection signal is positive, the sign of the output signal of the ninth PID controller 516 is output.
The output signal of the PID controller 516 is output as is without converting the sign.

The first adder 533 is connected to the first PID controller 508
and the output signals of the first code converter 532 and the 17th PID controller 524, and output the addition result of the following equation (26) as the request signal _1d for the thrust amount of the first oscillating propeller ₂₁ . . _1d =K _px1 Δx ₀ +K _Ix1 ∫Δx ₀ dt+K _Dx1 d(x ₀ )/dt ±(K _py9 Δy ₀ +K _Iy9 ∫Δy ₀ dt+K _Dy9 d(Δy ₀ )/dt) +K _p 〓 ₁₇ ΔΨ＋K _I 〓 ₁₇ ∫ ΔΨdt−K _D 〓 ₁₇ dΨ／dt ...(26) (When θ ₁ > 0 + sign selection When θ ₁ < 0 - sign selection) Wind and current in the first to third terms of equation (26) above By changing the amount of thrust of the first propeller ₂₁ in response to disturbances such as these, it plays the role of performing stable position control so that the positional deviation _Δx0 of the platform 1 becomes zero. Furthermore, the fourth to sixth terms serve to make the positional deviation Δy ₀ zero, and the seventh to ninth terms serve to reduce the azimuth deviation ΔΨ
It plays the role of bringing the value to zero. Further, the selection of the code in the above equation (26) is performed by the above-mentioned first code converter 532.

The first automatic manual switching device 534 inputs the output signals of the existing first blade angle lever 00 and the first adder 533, and causes the operator to output one of the signals depending on the driving mode desired. The existing first blade angle servo mechanism 02 is the first automatic manual switching device 5.
34 output signal causes the first oscillating propeller 2 ₁
Adjust the amount of thrust ₁ . First blade angle detector 53
5 detects the amount of thrust of the first propeller 2 ₁ . The first multiplier 536 outputs the product of the first blade angle detector 535 and the output signal of the turning angle detector of the first propeller 2 ₁ described later as an input. The second sign converter 537 converts the thrust direction of the first propeller 2 ₁ output from the second PID controller 509 when the product of the thrust amount signal and the turning angle signal of the first propeller 2 ₁ is negative. It has the role of converting the sign of the request signal to realize a thrust vector that allows the first propeller 2 ₁ to effectively correct the positional deviation Δx ₀ . Therefore, the second code converter 537 inputs each output signal of the second PID controller 509 and the first multiplier 536, and when the output signal of the first multiplier 536 is negative, the second code converter 537 The sign of the output signal of the PID controller 509 is converted and outputted, and when the output signal of the multiplier 536 is positive, the sign of the output signal of the second PID controller 509 is not converted and is output as is.

The second adder 538 is the second sign converter 537
and the 10th PID controller 517 and the 18th PID controller 5
25 output signal as input, the first propeller 2
The addition result of the following equation (27) is output as the request signal θ _1d for the thrust direction of ₁ .

θ _1d = ±(K _px2 Δx ₀ +K _Ix2 ∫Δx ₀ dt+K _Dx2 d(Δx ₀ )/
dt) +K _py10 Δy ₀ +K _Iy10 ∫Δy ₀ dt+K _Dy10 d/dt (Δy ₀ ) +K _p 〓 ₁₈ ΔΨ＋K _I 〓 ₁₈ ∫ΔΨdt−K _D 〓 ₁₈ dΨ／dt ...(27) ( ₁ θ ₁ > 0 When + sign selection ₁ When θ ₁ < 0 - sign selection) The first to third terms of the above equation (27) are as follows: By changing the thrust direction of the first propeller 2 ₁ in response to the disturbance,
It plays the role of ensuring that the positional deviation Δx ₀ of the platform 1 becomes zero. Furthermore, the fourth to sixth terms serve to make the positional deviation Δy ₀ zero, and the seventh to ninth terms serve to make the azimuth deviation ΔΨ zero. The selection of the code in equation (27) is performed by the second code converter 537.

The second automatic manual switching device 539 inputs the output signals of the existing turning angle lever 01 and the second adder 538, and allows the operator to output one of the signals depending on the desired driving mode. The existing first turning angle servo mechanism 03 is replaced by the second automatic manual switching device 53
The turning angle of the first propeller is adjusted using the output signal No. 9 as input. The first turning angle detector 540
Detect the turning angle of propeller ₂₁ . The turning angle detection signal is input to the first multiplier 536 and first code converter 532 described above. Third code converter 54
1 is a code converter 53 in the first propeller 2 ₁
The second propeller 2 plays the same role as ₂ .
With each output signal of the 11th PID controller 518 and a turning angle detector of the second propeller ₂₂ described later as input,
If the turning angle detection signal is negative, the 11th PID controller 5
If the turning angle detection signal is positive, the sign of the output signal of the 11th PID controller 518 is not converted and is output as is. The third adder 542 includes a third PID controller 510, a third code converter 541, and a nineteenth PID controller 526.
It inputs each output signal and outputs the addition result of the following equation (28) as a request signal _2d for the amount of thrust of the second propeller ₂₂ . _2d = K _px3 Δx ₀ +K _Ix3 ∫Δx ₀ dt+K _Dx3 d/dt (Δx ₀ ) ±(K _py11 Δy ₀ +K _Iy11 ∫Δy ₀ dt+K _Dy11 d/dt (Δy ₀ )
) +K _p 〓 ₁₉ ΔΨ＋K _I 〓 ₁₉ ∫ΔΨdt−K _D 〓 ₁₉ dΨ／dt ...(28) (When θ ₂ > 0 + sign selection When θ ₂ < 0 - sign selection) The above equation (28) The first to third terms make the position deviation Δx ₀ zero by changing the amount of thrust of the second propeller 2 ₂ in response to disturbance, and the fourth to sixth terms make the position deviation Δy ₀
is zero, and the seventh to ninth terms have the role of making the azimuth deviation ΔΨ become zero. The selection of the code in equation (28) above is performed by the third code converter 541 described above.

The third automatic manual switching device 543 inputs the output signals of the existing second blade angle lever 04 and the third adder 542, and causes the operator to output one of the signals depending on the desired driving mode. The existing second blade angle servo mechanism 06 is replaced by the third automatic manual switching device 54.
The amount of thrust of the second propeller _{is 2} due to the output signal of 3.
Adjust. The second blade angle detector 544 detects the amount of thrust of the second propeller 2 ₂ . second multiplier 5
45 inputs output signals of a second blade angle detector 544 and a turning angle detector of a second propeller 2 ₂ to be described later, and outputs the product thereof. Fourth code converter 546
The second propeller ₂₂ plays the same role as the second code converter 537 in the first propeller ₂₁ , and the fourth PID controller 511 and the second multiplier 5
45 output signals as input, the second multiplier 5
If the output signal of 45 is negative, the fourth PID controller 5
If the output signal of the multiplier 545 is positive, the sign of the output signal of the fourth PID controller 511 is not converted and is output as is. The fourth adder 574 is the fourth code converter 5
46, the 12th PID controller 519, and the output signals of the 20th PID controller 527 are input, and the addition result of the following equation (29) is output as the request signal θ _2d for the thrust direction of the second propeller ₂₂ . .

θ _2d = ±(K _px4 Δx ₀ +K _Ix4 ∫Δx ₀ dt+K _Dx4 d/dt(Δx ₀
)) +K _py12 Δy ₀ +K _Iy12 ∫Δy ₀ dt+K _Dy12 d/dt (Δy ₀ ) +K _p 〓 ₂₀ ΔΨ＋K _I 〓 ₂₀ ∫ΔΨdt−K _D 〓 ₂₀ dΨ／dt ...(29) ( ₂ θ ₂ > 0 (when + sign selection ₂ θ ₂ < 0 - sign selection) The first to third terms of equation (29) above indicate that the position deviation Δx ₀ is reduced by changing the thrust direction of the second propeller 2 ₂ in response to disturbance. The fourth to sixth terms have the role of making the positional deviation Δy ₀ zero, and the seventh to ninth terms have the role of making the azimuth deviation ΔΨ zero. The selection of the code in the above equation (29) is performed by the above-mentioned fourth code converter 546.

The fourth automatic manual switching device 548 inputs the output signals of the existing second turning angle lever 05 and the fourth adder 547, and causes the operator to output one of the signals depending on the desired driving mode. The existing second turning angle servo mechanism 07 adjusts the turning angle θ ₂ of the second propeller 2 ₂ based on the output signal of the fourth automatic manual switching device 548 . The second turning angle detector 549 detects the turning angle of the second propeller 2 ₂ . The turning angle detection signal is input to the second multiplier 545 and the third code converter 541 described above.

The fifth code converter 550 is connected to the first propeller 2 ₁
The third propeller ₂₃ plays the same role as the code converter 532 in the 13th PID controller 52.
0 and the output signal of the turning angle detector of the third propeller ₂₃ , which will be described later, are input, and if the turning angle detection signal is negative, the sign of the output signal of the thirteenth PID controller 520 is converted and outputted, If the turning angle detection signal is positive, the output signal of the thirteenth PID controller 520 is output as is without converting the sign.

The fifth adder 551 is connected to the fifth PID controller 512
and a fifth code converter 550 and a twenty-first PID controller 5
28 output signals as input, the third propeller 2
The addition result of the following equation (30) is output as the request signal _3d for the thrust amount of ₃ . _3d = K _px5 Δx ₀ +K _Iy5 ∫Δx ₀ dt+K _Dx5 d/dt (Δx ₀ ) ±(K _py13 Δy ₀ +K _Iy13 ∫Δy ₀ dt+K _Dy13 d/dt (Δy ₀ )
) +K _p 〓 ₂₁ ΔΨ＋K _I 〓 ₂₁ ∫ΔΨdt−K _D 〓 ₂₁ dΨ／dt ...(30) (When θ ₃ > 0 + sign selection When θ ₃ < 0 - sign selection) The above equation (30) The first to third terms make the positional deviation Δx ₀ zero by changing the amount of thrust of the third propeller 2 ₃ in response to disturbance, and the fourth to sixth terms make the positional deviation Δy ₀
is zero, and the seventh to ninth terms have the role of making the azimuth deviation ΔΨ become zero. The selection of the code in the above equation (30) is performed by the above-mentioned fifth code converter 550.

The fifth automatic manual switching device 552 inputs the output signals of the existing third blade angle lever 08 and the fifth adder 551, and allows the operator to output one of the signals depending on the desired driving mode. The existing third blade angle servo mechanism 10 is replaced by the fifth automatic manual switching device 55.
The blade angle of the third propeller 2 ₃ is adjusted by the output signal of 2 3 . The third blade angle detector 553 detects the amount of thrust of the third propeller 2 ₃ . Third multiplier 55
4 inputs the output signals of the third blade angle detector 553 and the turning angle detector of the third propeller 2 ₃ to be described later, and outputs the product thereof.

The sixth code converter 555 is connected to the first propeller 2 ₁
The third propeller ₂₃ plays the same role as the second code converter 537 in , and inputs the output signals of the sixth PID controller 513 and the third multiplier 554, and inputs the output signal of the multiplier 554. When is negative, the sign of the output signal of the sixth PID controller 513 is converted and output, and when the output signal of the multiplier 554 is positive, the sign of the output signal of the sixth PID controller 513 is converted and output. Output as is.

The sixth adder 556 is the sixth code converter 555
and the 14th PID controller 521 and the 22nd PID controller 5
With the output signal of 29 as input, the third propeller 2
The addition result of the following equation (31) is output as the request signal θ _3d for the thrust direction of _{No. 3} .

θ _3d = ±(K _px6 Δx ₀ +K _Ix6 ∫Δx ₀ dt+K _Dx6 d/dt(Δx ₀
)) +K _py14 Δy ₀ +K _Iy14 ∫Δy ₀ dt+K _Dy14 d/dt (Δy ₀ ) +K _p 〓 ₂₂ ΔΨ＋K _I 〓 ₂₂ ∫ΔΨdt−K _D 〓 ₂₂ d/dt(Ψ) ……(31) ( ₃ θ ₃ > 0 + sign selection ₃ When θ ₃ < 0 - sign selection) The first to third terms of the above equation (31) are calculated by changing the thrust direction of the third propeller 2 ₃ in response to the disturbance,
The positional deviation Δx ₀ becomes zero, the fourth to sixth terms have the role of making the positional deviation Δy ₀ zero, and the seventh to ninth terms have the role of making the azimuth deviation ΔΨ zero. The selection of the code in the above equation (31) is performed by the above-mentioned sixth code converter 555.

The sixth automatic manual switching device 557 inputs the output signals of the existing third turning angle lever 09 and the sixth adder 556, and causes the operator to output one of the signals depending on the desired driving mode. existing third
The turning angle servo mechanism 11 adjusts the turning angle θ ₃ of the third propeller 2 ₃ based on the output signal of the sixth automatic manual switching device 557 . Third turning angle detector 558
detects the turning angle of the third propeller ₂₃ . This turning angle detection signal is sent to the third multiplier 55 described above.
4 and a fifth code converter 550.

The seventh code converter 559 is connected to the first propeller 2 ₁
The fourth propeller ₂₄ plays the same role as the first code converter 532, and the fifteenth PID controller 52
When the turning angle detection signal is negative, the sign of the output signal of the _15th PID controller 522 is converted and outputted when the turning angle detection signal is negative. , when the turning angle detection signal is positive, the output signal of the 15th PID controller 522 is output as is without converting the sign. The seventh adder 560 is connected to the seventh PID controller 514 and the seventh code converter 55.
With each output signal of the 9th and 23rd PID controller 530 as input, the addition result of the following equation (32) is output as a request signal _4d for the thrust amount of the fourth propeller ₂₄ . _4d = K _px7 Δx ₀ +K _Ix7 ∫Δx ₀ dt+K _Dx7 d/dt (Δx ₀ ) ±(K _py15 Δy ₀ +K _Iy15 ∫Δy ₀ dt+K _Dy15 d/dt (Δy ₀ )
) +K _p 〓 ₂₃ ΔΨ＋K _I 〓 ₂₃ ∫ΔΨdt＋K _D 〓 ₂₃ dΨ／dt ...(32) (When θ ₄ > 0 + sign selection When θ ₄ < 0 - sign selection) The first of the above equation (32) ~The third term is the position error Δx ₀ that is reduced to zero by changing the amount of thrust of the fourth propeller 2 ₄ in response to disturbance, and the fourth to sixth terms are the position error Δy ₀
is zero, and the seventh to ninth terms have the role of making the azimuth deviation ΔΨ become zero. The code selection in equation (32) above is performed by the seventh code converter 5.
59 will do it.

The seventh automatic manual switching device 561 inputs the output signals of the existing fourth blade angle lever 12 and the seventh adder 560, and causes the operator to output one of the signals depending on the desired driving mode. The existing fourth blade angle servo mechanism 14 is replaced by a seventh automatic manual switching device 56.
The amount of thrust of the fourth propeller 2 ₄ is determined by the output signal of 1.
Adjust ₄ . The fourth blade angle detector 562
Detects the amount of thrust of propeller ₂₄ . The fourth multiplier 563 inputs the output signals of the fourth blade angle detector 562 and the turning angle detector of the fourth propeller 2 ₄ , which will be described later, and outputs the product thereof. Eighth code converter 5
64 plays the same role in the fourth propeller ₂₄ as the second code converter 537 in the first propeller ₂₁ , and inputs the output signals of the eighth PID controller 515 and the fourth multiplier 563. If the output signal of the fourth multiplier 563 is negative, the sign of the output signal of the eighth PID controller 515 is converted and output, and if the output signal of the multiplier 563 is positive, the sign of the output signal of the eighth PID controller 515 is The output signal of the controller 515 is output as is without converting the sign. The eighth adder 565 inputs the output signals of the eighth code converter 564, the 16th PID controller 523, and the 24th PID controller 531, and outputs a request signal θ for the thrust direction of the fourth propeller ₂₄ . The addition result of equation (33) below is output as _4d .

θ _4d = ±(K _px8 Δx ₀ +K _Ix8 ∫Δx ₀ dt+K _Dx8 d/dt(Δx ₀
)) +K _py16 Δy ₀ +K _Iy16 ∫Δy ₀ dt+K _Dy16 d/dt (Δy ₀ ) +K _p 〓 ₂₄ ΔΨ＋K _I 〓 ₂₄ ∫ΔΨdt−K _D 〓 ₂₄ dΨ／dt ...(33) ( ₄ θ ₄ > 0 When + sign selection ₄ When θ ₄ < 0 - sign selection) The first to third terms of the above equation (33) indicate that the position deviation Δx ₀ can be reduced by changing the thrust direction of the fourth propeller 2 ₄ in response to disturbance The fourth to sixth terms have the role of making the positional deviation Δy ₀ zero, and the seventh to ninth terms have the role of making the azimuth deviation ΔΨ zero. The selection of the code in equation (33) is performed by the eighth code converter 564.

The eighth automatic manual switching device 566 inputs the output signals of the existing fourth turning angle lever 13 and the eighth adder 565, and causes the operator to output one of the signals depending on the desired driving mode. Existing 4th
The turning angle servo mechanism 15 adjusts the turning angle θ ₄ of the fourth propeller 2 ₄ based on the output signal of the eighth automatic manual switching device 566 . Fourth turning angle detector 567
detects the turning angle of the fourth propeller ₂₄ . This turning angle detection signal is sent to the fourth multiplier 56 described above.
3 and a seventh code converter 559.

As described above, the device of the present invention uses a propeller rotation speed servo mechanism instead of a blade angle servo mechanism in the case of an oscillating fixed pitch propeller that adjusts thrust by changing the rotation speed. It can achieve the same effect as a swing type propeller. Furthermore, this device can also be realized by using a DDC (Direct Digital Control) method instead of a control computer.

Fig. 17 is a characteristic curve diagram showing performance simulation results when fixed point holding control of platform 1 is performed using the device of the present application when a wind disturbance with a wind speed of 20 m/s is received from 30 degrees forward right. It is.
In the figure, A shows the temporal change in wind speed, and the wind speed is
It reached 20m/s (approximately 40kt) from zero in 10 seconds.
Figure 17A shows the temporal changes in the position and orientation of platform 1 when it receives the wind disturbance shown in figure _17a . (solid line) is approximately 10m maximum
, and the sway amount (dashed line), which is the movement of platform 1 in the left-right direction (y ₀ axis direction), also reaches a maximum of approximately 10
It takes about 5 minutes to reach m and return to the original position. Orientation of the platform (indicated by a black circle in the diagram)
changes to the right by about 5 degrees, but it takes about 5 minutes to return to its original orientation. As a result of the above, when the platform 1 receives the step-like wind disturbance shown in FIG. 17A, it returns to its original state in about 5 minutes. Further, U to C in the figure indicate first to fourth oscillating variable blade propellers in order to return the platform 1 to its original position and orientation when it receives a step-like wind disturbance as shown in FIG. 17A. 2 ₁ to _{2 4} show the time course of the thrust vectors generated. The solid line shows the propeller blade angle, the broken line shows the turning angle, the solid line in E shows the magnitude of thrust, and the broken line shows the propeller horsepower consumption.
After the propeller blade angle of the first oscillating propeller 2 ₁ temporarily reaches the maximum blade angle, as shown by the solid line in c,
The position and orientation are established by generating a thrust vector T ₁ that is a rightward forward thrust as shown in FIG.

O and F are the thrust vector changes of the second oscillating propeller 2 ₂ located at the front left of the platform 1. The solid line in O shows the propeller blade angle, the broken line shows the turning angle, and the solid line in F shows the magnitude of the thrust. The dashed line shows the propeller horsepower consumption. Like the first propeller 2 ₁ , the second propeller 2 ₂ generates a thrust vector T ₂ that is a rightward forward thrust as shown in FIG. 18 to settle the position and orientation.

Ki and Ku are the temporal changes in the thrust vector of the third oscillating propeller 2 ₃ located at the right rear of the platform 1. The solid line in Ki is the propeller blade angle, the dashed line is the turning angle, and the solid line in Ku is the thrust vector. The size and dashed line are propeller horsepower consumption. The third propeller ₂₃ generates forward thrust in order to correct the longitudinal positional deviation (surge amount) of the platform 1 that initially occurs as shown in A when the platform 1 receives a wind disturbance. However, after platform 1
Generates backward thrust to stably control the horizontal positional deviation (sway amount) and azimuth deviation of the
The position and orientation are stabilized by generating a thrust vector _T3 which is a leftward backward thrust as shown in FIG.

Figures 1 and 2 are the temporal changes in the thrust vector of the fourth oscillating propeller ₂₄ located at the rear left of the platform 1. The solid line in Figure 1 is the propeller blade angle, the dashed line is the turning angle, and the solid line in Figure 1 is the thrust vector. The size and dashed line are propeller horsepower consumption. Similar to the third propeller ₂₃ , the fourth propeller ₂₄ generates forward thrust in order to correct the longitudinal positional deviation (surge amount) of the platform 1 when the platform 1 is initially subjected to wind disturbance. is occurring, but then platform 1
In order to stably control the horizontal positional deviation (sway amount) and azimuth deviation of the vehicle, leftward backward thrust is generated.

As described above, when the platform 1 receives a step-like wind disturbance from the right front as shown in FIG. 17A, the thrust vector as shown in _FIG . 2 _{and 4} respectively, and the combination of these thrust vectors is shown in Figure 5a above.
It can be seen that this embodiment device is effective as a fixed point holding control device of platform 1 because the combination of thrust vectors that enable stable fixed point holding control shown in FIG. In addition, in Fig. 17, the backward thrust of the third and fourth oscillating propellers 2 ₃ and 2 ₄ is the same as that of the first
The reason why the forward thrust in the longitudinal direction of the platform ₁ is considerably smaller than the forward thrust of the first and second propellers 2 ₁ and _{2 2 is} that the forward thrust in the longitudinal direction of the platform 1 is the third This is to avoid as much as possible canceling out the thrust vectors of the fourth propellers 2 ₃ and 2 ₄ by the backward thrust components in the longitudinal direction of the platform.

As can be seen from the simulation results above, the effects of the present invention can be seen from the fact that once the operator has given the set position and orientation of the platform,
The four oscillating variable-blade propellers are then controlled in an optimal manner to create a combination of thrust vectors that can stably hold the platform at a fixed point. Therefore, compared to the conventional manual method, where you have to approach the target value through trial and error, there is no waste in the operation, the labor burden on the operator is greatly reduced, and the position Holding performance and turning performance can be made extremely high.

[Brief explanation of drawings]

Figures 1a and b are external views showing a semi-submersible two-lower hull platform, Figures 2a to h are block diagrams of a conventional position control device for marine structures, and Figures 3, 4, and Figures 5a to 5c and 6a to 6c are plan views for explaining the operation of the conventional device, respectively.
The figure is a configuration diagram showing an embodiment of the present invention, and FIGS. 8 to 18 are for explaining the above embodiment, respectively. FIG. 8 is a coordinate diagram, FIGS. 9 a to d are plan views, and FIGS. Figure 10 is a coordinate diagram, Figures 11 a to d are plan views, Figure 12 is a coordinate diagram, Figures 13 a and b are plan views, Figures 14 a and b are plan views, and Figures 15 a and b are 16A and 16B are plan views, 17A to 17A are characteristic curve diagrams, and FIG. 18 is a plan view. 1... Semi-submersible 2 lower hull type platform, 2 ₁ to 2 ₄ ... Oscillating variable wing propeller, 0
0,04,08,12...Blade angle lever, 01,0
5,09,13...Turning angle lever, 02,06,
10,14...Blade angle servo mechanism, 03,07,1
1, 15...Turning angle servo mechanism, 500...Position setting device, 501...Direction setting device, 502...Position detector, 503...Gyroscope compass, 504-
506...Subtractor, 507...Position deviation converter,
508-531...PID controller, 532, 53
7,541,546,550,555,559,
564... code converter, 533, 538, 54
2,547,551,556,560,565...
...Adder, 534, 539, 543, 548, 5
52,557,561,566... Automatic manual switching device, 535,544,553,562... Blade angle detector, 536,545,554,563... Multiplier, 540,549,558,567... Turning Angle detector.

Claims (1)

[Claims] 1 Four propellers are located in front of the offshore structure, two on the left and right.
A position detector that detects the position coordinates of the marine structure in a predetermined spatially fixed coordinate system, and a position coordinate set in the coordinate system, for two marine structures placed on the left and right behind the platform. A position setting device that outputs a signal, a gyro compass that detects the direction of the marine structure, and a direction setting device that outputs a direction setting signal of the marine structure are provided, and the output of the position setting device and the a first subtractor that receives as input the output of the position detector, a second subtractor that receives as input the output of the position setter and the output of the position detector, and the output of the direction setter and the A third subtractor receives the output of the gyro compass as input, and outputs the output of the first and second subtracters and the output of the azimuth setter as input, and generates a position deviation signal in the set azimuth direction and the set azimuth. a positional deviation exchanger that outputs a positional deviation signal in the orthogonal direction; first to eighth PID controllers that receive the positional deviation signal that is the first output of the positional deviation converter; and the positional deviation converter. 9th to 16th PID controllers which receive the position error signal which is the second output of the PID controller, and 17th to 24th PID controllers which receive the output of the third subtracter and the output of the gyro compass as inputs. input the output of the PID controller, the output of the first turning angle detector described later that detects the turning angle of the first propeller located on the right front of the marine structure, and the output of the ninth PID controller. If the first turning angle detector outputs a negative signal in response to a leftward turning angle, then the ninth
Converts the sign of the output signal of the PID controller and outputs it,
When the first turning angle detector outputs a positive signal corresponding to a rightward turning angle, the first sign outputs the output signal of the ninth PID controller as is without converting the sign of the output signal. a converter; a first adder that receives as inputs the outputs of the first PID controller, the first sign converter, and the seventeenth PID controller;
a first blade angle servo mechanism that receives the output of the adder as input; a first blade angle detector that detects the propeller blade angle of the first blade angle servo mechanism; and the first blade angle detector. and the output of a first turning angle detector to be described later, and a first multiplier that outputs the product of the two signals, and the output of the second PID controller and the first multiplier. When the output signal of the first multiplier is negative, the sign of the output signal of the second PID controller is converted and output, and when the output signal of the first multiplier is positive, a second code converter that outputs the output signal of the second PID controller as it is without converting the sign; the second code converter; and the tenth code converter;
a second adder that receives the PID controller and the output of the 18th PID controller; a first turning angle servo mechanism that receives the output of the second adder;
a first turning angle detector that detects the turning angle of the first turning angle servo mechanism; and a second turning angle, which will be described later, that detects the turning angle of a second propeller located at the front left of the marine structure. The output of the detector and the 11th
The output of the PID controller is input, and if the output signal of the second turning angle detector is negative, the 11th PID
The sign of the output signal of the controller is converted and output, and the second
a third code converter that outputs the output signal of the eleventh PID controller as it is when the output of the turning angle detector is positive; a third adder that receives as input the output of the PID controller of No. 19, a second blade angle servo mechanism that receives the output of the third adder as input, and a propeller of the second blade angle servo mechanism. The second one detects the amount of thrust.
a second multiplier that inputs the second blade angle detector and the output of a second turning angle detector described later and outputs the product of the two signals; and the output of the second multiplier as inputs, and when the output signal of the second multiplier is negative, converts the sign of the output signal of the fourth PID controller and outputs it, a fourth code converter that outputs the output signal of the fourth PID controller as it is when the output of the second multiplier is positive; a fourth adder whose input is the output of the PID controller; a second turning angle servo mechanism whose input is the output of the fourth adder;
a second turning angle detector that detects the turning angle of the second turning angle servo mechanism; and a third turning angle described later that detects the turning angle of a third propeller located on the right rear side of the marine structure. Detector output and the 13th PID above
The outputs of the controllers are respectively input, and when the output signal of the third turning angle detector is negative, the sign of the output signal of the 13th PID controller is converted and output, and the output signal of the third turning angle detector is inputted. a fifth code converter that outputs the output of the thirteenth PID controller as it is when the output is positive; and a fifth code converter that outputs the output of the thirteenth PID controller as it is; a third blade angle servo mechanism that receives the output of the fifth adder as an input; and a third blade angle servo mechanism that detects the amount of propeller thrust of the third blade angle servo mechanism. 3, the third blade angle detector and the third blade angle detector described later.
a third multiplier which inputs the output of the turning angle detector of and outputs the product of the two signals;
The PID controller and the output of the third multiplier are respectively input, and when the output signal of the third multiplier is negative, the sign of the output signal of the sixth PID controller is converted and outputted, If the output of the third multiplier is positive, the sixth
The sixth output signal outputs the output signal of the PID controller as it is.
a code converter; the sixth code converter; and the sixth code converter;
a sixth adder inputting the outputs of the 14 PID controller and the 22nd PID controller; a third turning angle servo mechanism inputting the output of the sixth adder; a third turning angle detector that detects the turning angle of the turning angle servo mechanism of the marine structure; and a fourth turning angle detector (described later) that detects the turning angle of a fourth propeller located at the rear left of the marine structure. Output and 15th above
and the output of the PID controller as inputs, and if the output signal of the fourth turning angle detector is negative, the 15th PID
The sign of the output signal of the controller is converted and output, and the fourth
If the output signal of the turning angle detector is positive, the 15th
a seventh code converter that outputs the output of the PID controller as it is; and a seventh code converter that receives as input the seventh PID controller, the seventh code converter, and the twenty-third PID controller. an adder, a fourth blade angle servo mechanism that receives the output of the seventh adder, a fourth blade angle detector that detects the amount of propeller thrust of the fourth blade angle servo mechanism; a fourth multiplier that inputs a fourth blade angle detector and the output of a fourth turning angle detector (described later) and outputs the product of the two signals; the eighth PID controller and the fourth multiplier; When the output signal of the fourth multiplier is negative, the sign of the output signal of the eighth PID controller is converted and output, and the output of the fourth multiplier is inputted. If is positive, the eighth code converter outputs the output signal of the eighth PID controller as it is, and inputs the outputs of the eighth code converter, the 16th PID controller, and the 24th PID controller. a fourth turning angle servo mechanism that receives the output of the eighth adder as input; and a fourth turning angle detection device that detects the turning angle of the fourth turning angle servo mechanism. An automatic position control device for a marine structure, characterized in that it is equipped with a device.