RU2010103925A - METHOD FOR FAILURE-SAFE AUTOMATIC CONTROL OF SHIP MOVEMENT - Google Patents

Abstract

 A method of fail-safe automatic control of the movement of the ship using a diagnostic unit and modules: software, computing, actuators and measuring, the latter generates a course angle signal - φ, a program module generates a signal of a given course angle - φzd, both signals are algebraically summed and entered into the computational a module in which the signal of the angular velocity of the course from the measuring module is also used to generate a signal of a given value of the rudder angle - δzd, signal δzd They are fed to the input of the actuator module, at the output of which the signal of the rudder angle of rotation is formed, δ, characterized in that the backup modules are additionally used: computational - δzd. φ, φzd, δ, φreser, δmodel, from the corresponding models are introduced into the diagnostic unit, in the latter form: the first signal from the difference of the course angle signals and the given course angle, the second signal from the difference of the course angle signal and the angle signal the course from the backup module of the meter - the third signal from the difference of the signal δzd from the calculator module and the signal from the backup module of the calculator - δzd.reser: the fourth signal from the difference of the signal - δ from the module of actuators and the signal from the backup module - models of actuators - δmodel:, the module of the first signal from the difference of the signals of the course angle and the given angle of the course is compared with the signal of the permissible value, if the module of the first signal from the difference exceeds the signal of the permissible value, then the module of the second signal from

Claims (1)

A method of fail-safe automatic control of the movement of the ship using a diagnostic unit and modules: software, computing, actuators and measuring, the latter generates a course angle signal - φ, a program module generates a signal of a given course angle - φ _rear , both signals are algebraically summed and entered into computing module, which uses the same rate signal from the angular rate sensor module for generating a signal setpoint rudder angle - δ _zd, δ _zd signal lead to the input of module actuators, the output signal of which is formed rudder angle - δ, wherein the use further redundant modules: a computational - δ _zd.rezer, actuators - δ _cutting, measuring - φ _Rezer and model actuators - δ _model , signals: φ, φ _rear , δ, φ _reserve , δ _model , from the corresponding models are introduced into the diagnostic unit, in the latter form: the first signal from the difference of the signals of the course angle and the given course angle

the second signal from the difference between the signal of the heading angle and the signal of the heading angle from the backup module of the meter -

the third signal from the difference of the signal δ _rear from the calculator module and the signal from the backup calculator module - δ _rear :

the fourth signal from the signal difference is δ from the actuator module and the signal from the backup module - actuator model is δ _model :

, the module of the first signal from the difference between the signals of the heading angle and the given angle of the course is compared with the signal of the permissible value, if the module of the first signal from the difference exceeds the signal of the allowable value, then the module of the second signal from the difference of the signal of the heading angle and the signal from the backup module of the meter is compared with the signal of the allowable value and if the module of the second signal from the difference exceeds the signal of the permissible value, then in the calculator instead of the signal of the set value of the rudder angle - δ _rear form the backup signal th value rudder angle - δ _zd.rez using a predetermined course angle signal - φ _zd from the program module and the backup course angle signal φ _Rezer and angular velocity of the backup meter module, reserve setpoint signal rudder angle - δ _{zd reserve} administered to input module actuators instead _zd signal δ, the first signal module of the difference signal of the course angle and a predetermined angle rate signal again compared with the allowable value if the first signal module of the difference signal exceeds the permissible direct value and if the third module signal from the difference signal _zd δ of module calculator and the signal from the backup module calculator - δ _zd.rezer signal exceeds the permissible value, instead of the setpoint signal rudder angle - δ _zd in the backup calculator predetermined shape, fallback value rudder angle - δ _zd.rez using a predetermined course angle signal - φ _zd from the program module and the course angle signal φ from the sensor module, which is introduced to the input of module actuators to output module of auxiliary devices, a rudder angle signal δ is generated, the first signal modulus from the difference of the heading angle signals and the set course angle is again compared with the acceptable value signal if the first signal modulus from the difference exceeds the acceptable value signal and, if the fourth signal modulus is from the signal difference - δ of module actuators and the signal from the redundant model actuators - δ _model exceeds the allowable value signal, is formed in the calculator predetermined fallback value y a rudder - δ _zd.rezerv using a predetermined course angle signal - φ _zd from the program module and the course angle φ of the signal measurement module, which is introduced to the redundant input of the actuating means, at the input of the last signal generated rudder angle - δ _Rezer.