RU2012108992A

RU2012108992A - METHOD FOR CONTROLING A TRAJECTORY TRAFFIC OF A SHIP

Info

Publication number: RU2012108992A
Application number: RU2012108992/08A
Authority: RU
Inventors: Юрий Иванович Юдин; Сергей Владимирович Пашенцев
Priority date: 2012-03-11
Filing date: 2012-03-11
Publication date: 2013-09-20
Also published as: RU2501064C2

Abstract

1. Способ управления траекторией движения судна, включающий использование двух разнесенных по длине диаметральной плоскости судна носовой F и кормовой А точек с установленными в них приемниками СНС для измерения координат этих точек и на их основе определение параметров движения судна, непрерывную идентификацию математической модели судна, отличающийся тем, что используют текущие значения модулей и направлений векторов линейных скоростейносовой F точки икормовой А точки, при этом управление направлениями векторов осуществляют исходя из условия их постоянной направленности в заданную точку в неподвижной системе координат X0Y, а именно векторв процессе движения направлен в конечное заданное положение носовой точки судна точку F, векторв процессе движения направлен в конечное заданное положение кормовой точки судна точку А, управление модулями осуществляют путем оценки соотношений заданных значений каждого из модулей с соответствующими текущими значениями этих модулей, формируют сигнал σ управления из величин разностей текущих и заданных значений модулей и направлений векторови.2. Способ по п.1, отличающийся тем, что заданные значения модулей векторовирассчитывают методом компьютерного моделирования с использованием идентифицируемой в процессе движения математической модели судна.3. Способ по п.1, отличающийся тем, что текущие значения векторовиопределяют с помощью акселерометров, установленных в носовой F и кормовой А точках судна.4. Способ по п.1, отличающийся тем, что сигнал управления определяют по формуле:, гдеυ, υ, φ, φ- текущие значения модулей и направлений векторов скоростей точек F и А,υ, υ, φ, φ- з1. A method of controlling the vessel’s trajectory, including the use of two forward F and aft A points with the SNA receivers installed in them for measuring the coordinates of these points and based on them determining the parameters of the vessel’s movement, continuous identification of the mathematical model of the vessel, which differs the fact that they use the current values of the modules and directions of the vectors of linear velocities of the nasal F point and the feed point A, while the direction of the vectors is controlled based on from the condition of their constant directivity to a given point in the fixed coordinate system X0Y, namely, the vector during the movement is directed to the final predetermined position of the bow of the vessel point F, the vector during the movement is directed to the final predetermined position of the ship's point of the ship point A, the modules are controlled by evaluating the ratios the set values of each of the modules with the corresponding current values of these modules form a control signal σ from the values of the differences between the current and set values of the modules and the direction s vektorovi.2. The method according to claim 1, characterized in that the set values of the vector modules are calculated by computer simulation using the mathematical model of the ship identified by the movement. The method according to claim 1, characterized in that the current values of the vectors are determined using accelerometers installed in the fore and aft A points of the vessel. The method according to claim 1, characterized in that the control signal is determined by the formula: where, v, v, φ, φ are the current values of the modules and directions of the velocity vectors of the points F and A, υ, v, φ, φ

Claims

1. A method of controlling the vessel’s trajectory, including the use of two forward F and aft A points with the SNA receivers installed in them for measuring the coordinates of these points and based on them determining the parameters of the vessel’s movement, continuous identification of the mathematical model of the vessel, which differs by using the current values of the moduli and directions of the linear velocity vectors

{\bar{υ}}_{F}

nasal F points and

{\bar{υ}}_{A}

A feed point, while the direction of the vectors is controlled based on the condition of their constant directivity to a given point in a fixed coordinate system X ₀ 0Y ₀ , namely the vector

{\bar{υ}}_{F}

in the process of movement directed to the final predetermined position of the bow of the ship point F _to , vector

{\bar{υ}}_{A}

during the movement, point A _{k is} directed to the final predetermined position of the stern point of the vessel, the modules are controlled by evaluating the ratios of the set values of each of the modules with the corresponding current values of these modules, form a control signal σ from the values of the differences between the current and set values of the modules and directions of the vectors

{\bar{υ}}_{F}

and

{\bar{υ}}_{A}

.

2. The method according to claim 1, characterized in that the set values of the modules of vectors

{\bar{υ}}_{F}

and

{\bar{υ}}_{A}

calculated by computer simulation using a mathematical model of the ship identified in the process of movement.

3. The method according to claim 1, characterized in that the current values of the vectors

{\bar{υ}}_{F}

and

{\bar{υ}}_{A}

determined using accelerometers installed in the fore and aft A points of the vessel.

4. The method according to claim 1, characterized in that the control signal is determined by the formula:

σ = k_{υ F} (υ_{F t} - υ_{F s}) + k_{υ BUT} (υ_{BUT t} - υ_{BUT s}) + k_{ϕ F} (ϕ_{F t} - ϕ_{F s}) + k_{ϕ A} (ϕ_{A t} - ϕ_{BUT s})

where

υ _Ft , υ _At , φ _Ft , φ _At - current values of the modules and directions of the velocity vectors of points F and A,

υ _Fz, _Az υ, φ _Fz, φ _Az - setpoints moduli and directions of the vectors F and A velocity points,

k _υF , k _υA , k _φF , k _φA are the gains.