RU2350506C1 - Method of ship mooring - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: proposed method comprises electronic analog of ship motion, units of programmable and accelerated programmable motion control, unit of accelerated actuators, comparator unit with its input receiving signals from electronic analog of ship motion, units of programmable and accelerated programmable motion control. The comparator unit generates deviation of forecasted signals of the ship phase state at the end of mooring and preset programmed (for end of mooring), as well as that of the course angle and ship motion speed. Given the aforesaid deviations exceed tolerances, appropriate data is sent to navigator.

EFFECT: higher safety and reliability of automatic ship mooring control system.

1 dwg

Description

The present invention relates to the field of navigation - controlling the movement of the vessel along a predetermined trajectory with mooring to the pier and continuously issuing to the skipper a forecast on the phase state of the vessel at a future moment when the mooring process is over.

The well-known "Method of experimental determination of the parameters of the mathematical model of the motion of the vessel" (Russian patent No. 2151713). In the considered method, using the information about the state of the vessel from the receiver of the satellite navigation system, it is possible to identify all the coefficients of the full mathematical model of the vessel’s movement in order to provide automatic control of the vessel’s movement and the mooring mode

There is also a method of controlling the movement of a vessel during a mooring process (Russian patent No. 33448914), in which the control unit for automating a mooring mode is used to provide a permissible drift angle value as a function of the distance of the vessel to the pier and the programmed course angle value.

As a prototype, Russian patent No. 2292289 “A method for automatically controlling the movement of a vessel” based on the use of a steering gear, signals of turning points of a route from a program unit, signals of the current latitude and longitude of a vessel from a receiver of a satellite navigation system (SNA) and a calculator-adder, was adopted the input of which is fed: a signal of the angular velocity of the vessel, a signal of the rudder angle of rotation, a signal of the current direction angle and a signal of a given direction angle (vector of a given direction angle), which is generated using a signal the latitude and longitude of the vessel at the current sailing time t ₀ and the signals of the latitude and longitude of point A ₀ - the desired (future) rotation of the vessel to ensure further movement of the vessel along a given trajectory. At the output of the calculator, a control signal is generated, which is fed to the input of the steering gear.

In the process of the vessel’s movement to point A ₀ , executive control signals are generated to ensure the vessel’s movement with a track angle as close as possible to a given track angle. After a time interval Δt, the calculation cycle is repeated (with the correction of the value of the given path angle).

Through m time intervals i.e. at time t _m = t ₀ + mΔt, when the length of the vector of the given track angle becomes less than C ₁ , the ship’s exit to point A ₀ ends and a new value of the vector of the specified track angle from the current values of the latitude and longitude of the ship at time t _m and the specified latitude and longitude values of the next (second) turning point of the vessel (the vector value of the given direction angle is corrected if the vessel leaves a given trajectory, with each repeated calculation after a time interval Δt).

The disadvantage of the considered methods of controlling the movement of the vessel during mooring is the lack of continuous monitoring of the correct operation of all executive means and the compliance of the future phase state of the vessel at the moment the mooring process ends with the specified program values.

In the proposed method eliminates this deficiency by forming mode during mooring ₀ from the point A to the end point mooring A _finite length vector future predetermined track angle and phase coordinate future state vessel. These signals are generated in an accelerated program control unit using an electronic model of the vessel’s movement operating in an accelerated time scale. After a time interval Δt, the prediction is repeated. Predicted signals of the end point of the ship's mooring A end _. compare with program values at point A _end. and with an unacceptable deviation, they give information to the skipper.

The purpose of the proposed method for mooring a vessel with a forecast is to increase the safety and survivability of the system for automatically controlling the movement of the vessel during the mooring mode.

Consider how the proposed method is implemented.

The method of mooring a vessel is used after the vessel leaves at a given point A _{0 of the} route. Further control of the vessel’s movement is carried out in accordance with the specified parametric program until the vessel exits to point A end _. - the end of the mooring of the vessel to the pier.

Description of the method of mooring the vessel (sequence of operations)

The mooring operation begins at time t ₀ when the ship reaches the point A ₀ specified by the navigator on the map, and ends at time t _m when the ship reaches the final mooring point A end _.

A. Generation of ship control software signals

1. The formation of the signal length of the vector of a given path angle L _{i = 0,1, .. m} .

1) At the time t _{0, the} signals of latitude and longitude of the vessel at the point A ₀ are introduced into the calculator: Фi = Ф ₀ , λ _i = λ ₀ from the SNA receiver and coordinate signals t. A _end. (F _end. , Λ _end. ) From the program control unit, by which the signal L _{i = 0} is formed - the distance between point A ₀ (Ф _i = Ф ₀ , λ _i = λ ₀ ) and point A _end. (Φ _finite. , Λ _finite. ). A signal of length L _{i = 0 is} supplied to the program control unit.

2) Through the time interval Δt at the time t ₁ = t ₀ + Δt, a signal L _{i = 1 is formed} . The vessel’s latitude and longitude signals at the time t ₁ (point A ₁ ) are input into the calculator from the SNA receiver: Фi = Ф ₁ , λ _i = λ ₁ and coordinate signals t. And the _end (Ф _end. , Λ _end. ) From the block program management. The signal of the length of the vector L _{i = 1 is} fed to the program control unit.

3) Through the second time interval 2Δt at the time t ₂ = t ₀ + 2Δt, a signal L _{i = 2 is formed} and, similarly, L _{i = 3.4 ... m} up to the time t _m = t ₀ + mΔt, corresponding to the value of the signal L _{i = m} <C ₁ .

2. Formation of a given path angle signal in the computer

COG _{rear i = 0,1,2 ... m.}

1) At the time t ₀ corresponding to the location of the vessel at point A ₀ , the latitude and longitude signals of the position of the vessel Φ _{i = 0} = Φ ₀ , λ _{i = 0} = λ ₀ from the SNA receiver and the coordinates of the end point of the mooring point A are used _. (F _end. , Λ _end. ) - from the program control unit, which form the signal of the given direction angle in the calculator:

The signal of the set path angle COG, _{building i = 0} is input into the program control unit.

2) Through the time interval Δt at time t ₁ = t ₀ + Δt, corresponding to the arrival of the vessel at point A ₁ , a signal of the given _direction angle COG _{building i = 1 is generated} using the latitude and longitude signals of point A ₁ (Ф _i = Ф _{i = 1,} λ _i = λ _{i = 1)} from the receiver signals and the coordinates SNA final mooring point A _{finite (finite F.,} λ _finite) from the software control unit.

3) Similarly, a signal of a given direction angle is generated at time t ₂ = t ₀ + 2Δt, t ₃ ... The cycles are repeated until time t _m = t ₀ + mΔt (vessel arrives at point A _i = A end _. , When the signal is vector length a given direction angle will be: L _{i = m} <C ₁ ).

3. From the moment of time t _0, program signals are formed in the program control block — φ _{program i = 0} and vessel speed V _{program i = 0} using the signal L _i from the program control block. The cycles of calculations are repeated with an interval of time Δt until the time t _m = t ₀ + mΔt, when the signal of the length of the vector of the given path angle will be in the vicinity of point A end _. those. L _{i = m} <C ₁ :

(φ _{program i} = f ₁ (L _i ), V _{program i} = f ₂ (L _i )).

4. Formation in the calculator of program control signals, starting from time t ₀ , up to time t _m = t ₀ + mΔt, when the signal of the vector of a given direction angle will be in the vicinity of point A end _. , i.e. L _{i = m} <C ₁ :

- signals of the phase coordinates of the vessel,

- state signals of executive funds.

Formation cycles are repeated at time intervals Δt.

1) From the program control unit, program control signals are input:

a) the course of the ship φ _{program i} = f ₁ (L _i ),

b) vessel speed V _{prog., i.} = f ₂ (L _i ),

2) From the receiver of the SNA the signals are introduced:

a) the current track angle COG _i ,

b) the current coordinates of the vessel Ф _i , λ _i ,

c) the current speed of the vessel V _i .

3) From the block executive means enter the signals:

a) rudder sensor — signal of the current rudder angle δ _i .

b) heading and angular velocity sensor - signals of the current course φ _i and angular velocity of the vessel ω _i ,

C) the propeller speed sensor is a signal of the current propeller speed n _i ,

g) traction sensor - a signal of the current thrust T _i - bow thruster.

5. The formation in the calculator of the control signals of the block of executive bodies from the time t ₀ (with repetition through the time interval Δt) to the time t _m = t ₀ + mΔt (when the signal of the vector length of the given direction angle is. Li _{= m} <C _{1 ,} ):

- steering control d / dt δ _zd.i ,

- bow thruster control d / dt T _i ,

- controlling the propeller speed regulator d / dt n _i .

1) Steering drive control to maintain the current course angle φ _i close to the program value φ _{program i}

Where

d / dtδ _i - rudder shift speed,

(φ _i -φ _{prog. i} ) - course mismatch signal,

δ _i , δ _health.i - current and predetermined rudder angles,

To _1,2 - regulation factors.

2) Controlling the bow thruster to maintain the current track angle close to the set value:

where: T _i , d / dt T _i - signals of the current thrust of the thruster and its rate of change,

COG _i , COG _zd.i - signals of the current and given direction angle,

(COG_i-COG_зд.i)dt - сигнал интеграла от угла рассогласования путевого угла,

(COG _i -COG _zd.i ) dt is the integral signal from the angle of mismatch of the track angle,

To _{1,2, ... 4} - regulation coefficients.

3) Control of the propeller speed regulator to maintain the ship's speed close to the specified program:

Where:

d / dt n _i , d / dt V _i - signals of derivatives of the current revolutions of the propeller and the current speed of the ship,

K _1,2 - regulation coefficients,

(V _i -V _{prog. I} ) - a signal of a mismatch of the current speed of the vessel relative to the current program value.

The signals d / dt δ _i , d / dt T _i and d / dt n _i from the computer are fed to the inputs of the block of executive bodies:

- steering gear

- bow thruster,

- propeller speed regulator.

B. Generation of signals of the predicted values of the phase state of the vessel near point A end _. in the process of mooring.

The signals are generated on an accelerated time scale τ = kt, k >> 1 using: an electronic model of the vessel’s motion, an accelerated computer, an accelerated program control unit and an accelerated executive unit. Processing is performed from the moment of time τ ₀ = 0 (when the ship reaches the point A ₀ specified by the navigator on the map at time t ₀ ) and ends at the time of accelerated time τ _n is the exit time of the electronic model of the ship’s movement to point A end _. . (This happens when the length of the accelerated vector of a given path angle L is _{accelerated.i = n} <C _1. )

After a natural time interval Δt, the forecast phase coordinates of the vessel are generated again. Then, through 2Δt, 3Δt ... mΔt, the generation of the predicted phase coordinates of the vessel is repeated until the moment of natural time: t _m = t ₀ + mΔt. (t _m corresponds to the time when the length of the vector of the given path angle L _{is..i = m} <C _1. )

1. The formation of the signal length of the accelerated vector of a given path angle L _{accele.i = 0,1,2, ... n} .

1) The accelerated calculator inputting the latitude and longitude of the point A ₀ (.phi.i = F _0, λ _i = λ ₀₎ of the receiver SNA and signals the coordinates of the point A _finite (F _finite., Λ _finite) of accelerated program block, on which is formed starting from the moment of time τ _{0, the} signal L is _{accelerated. i = 0} (the distance between the point A ₀ (Ф _i = Ф ₀ , λ _i = λ ₀ ) and point A _end. (Ф _end. , λ _end. )). A signal of length L _{accele.i = 0} is introduced into the accelerated program control unit,

2) Through the time interval Δτ at the time point τ ₁ = τ ₀ + Δτ, a signal L _{accele i = 1} is generated in the accelerated computer. To this end, from the electronic model of the vessel’s movement, predicted signals of the latitude and longitude of the vessel are introduced at t. A _{1 acceleration} (at time τ ₁ ): Ф _{accele.i = 1} , λ _{accele.i = 1} and coordinate signals t. A _end of accelerated program block f _end. , λ _end. A signal of length L _{accele.i = 1 is generated} , which is input to the accelerated program control unit.

3) Through the time interval 2Δτ at the time point τ ₂ = τ ₀ + 2Δτ, a signal L _{accelerate is} formed. _{I = 2} similarly to item ₂ ). Then _uskor.i form L _{= 3,4 ... n,} and enter them into an accelerated program control unit (time point τ _n = τ ₀ + nΔτ electronic model corresponds to occurrence vessel movement to the end point mooring A _finite when the magnitude of the signal L _{is accelerated. i = n} <C ₁ ).

Through the interval of natural time Δt after the start of accelerated simulation t ₀ , i.e. at the moment of arrival of the vessel at point A ₁ at time t ₀ + Δt, the signal of the accelerated vector length of the given direction angle is accelerated again in the accelerated time L _{accele.ia = 0,1,2, ... na}

1a) Into the accelerated calculator, the signals of latitude and longitude of point A ₁ (Ф _{iа = 0} = Ф ₁ , λ _{ia = 0} = λ ₁ ) from the SNA receiver and coordinate signals t. A _end (Ф _end. , Λ _end. ) From accelerated program block, which is used at the time t ₀ + Δt (which corresponds to the beginning of the accelerated time τ _0a = 0) to generate the signal L is _{accelerated.ia = 0} (distance between point А ₁ (Ф _{ia = 0} = Ф ₁ , λ _{ia = 0} = λ ₁ ) and point A is _finite. (Φ is _finite. , λ is _finite. )). A signal of length L _{accele.ia = 0} is input to the accelerated program control unit.

2a) Through the time interval Δτ at the time of accelerated time τ ₁ = τ _0a + _Δτ , a signal L _{acceleration ia = 1 is} generated. Latitude and longitude signals are inputted into the accelerated calculator from the electronic model of the vessel’s movement at the time instant τ ₁ : _{ускор accele.iа = 1} , λ _{accele.ia = 1} , and the coordinates of point A end _. (F _end. , Λ _end. From the accelerated program block. A signal of length L _{accele.ia = 1 is generated} , which is supplied to the accelerated program control block.

3a) Through the time interval 2Δτ at the time point τ ₂ = τ ₀ + 2Δτ, a signal L _{accele.iа = 2 is formed} (like L _{accele ia = 1} ). Signal of length L at _speed served in the unit accelerated program control. Similarly _uskor.ia form L _{= 2,3,4 ... Na} to time _{τ na = τ 0a + n a} Δτ, where an electronic model of vessel motion would be in the field of _finite point A (the signal length of the acceleration vector predetermined track angle at the moment of time τ _na : L _{accele.ia = n} <C ₁ ).

Through the interval of natural time 2Δt after the start of simulation t ₀ , i.e. at the time of the vessel’s arrival at point A ₂ at time t ₀ + 2Δt, the accelerated vector of the given vector of the given direction angle is re-formed in the accelerated time L _{accele.iб.в, ... = 0,1,2, ... n} similar to that discussed above. Then the signal L _acceleration is formed. _{I = 0,1,2, ...} after the vessel enters the points A ₃ ... A _n-1 , (A _n = A _end. ).

2. The formation of the signal accelerated predetermined path angle in the accelerated time scale COG _{accele.zd.i = 0,1,2, .n.} in the accelerated computer from the time τ ₀ = 0, repeating the formation at time intervals Δτ to the time τ _n = τ ₀ + nΔτ, when the magnitude of the signal length of the vector of the accelerated predetermined path angle: L _{accele.i = n} <C ₁ .

1) Generation of the signal of the accelerated predetermined _directional angle COG _{acceleration of the building i = 0} at the moment of time τ ₀ (corresponding to the location of the vessel at point A ₀ at the moment of the current time t ₀ ). Use the signals of latitude and longitude of the point A ₀ (Ф _accele.i = Ф ₀ , λ _accele.i = λ ₀ ) from the SNA receiver and the signals of the mooring end point A end _. (F _end. , Λ _end ) from the accelerated program control block:

The signal of the specified accelerated path angle COG _{accele.di i = 0} is entered into the accelerated program control unit.

2) Through the time interval Δτ at the time point τ ₁ = τ ₀ + Δτ, an accelerated predetermined path angle signal COG _{accele.di.i = 1 is} generated in the accelerated computer using the latitude and longitude signals of the vessel's future location at point A _{accele. 1} (Ф _uskor.i F = _1, λ = λ _{uskor.i 1)} from the electronic model of the motion of the vessel and the final coordinate signals mooring point a _{finite (finite} F, λ _{finite.) -.} accelerated from program control unit, which is formed at an accelerated calculator :

Tg COG _bld.i = (Ф _{accele.i = 1-} Ф _{term .} ) / (Λ _{accele.i = 1-} λ _{end .} )

COG _{accelerated train i = 1} = ArctgCOG _{building i}

The accelerated predetermined path angle signal COG _{accele.di i = 1} is input to the accelerated program control unit.

3) Similarly to paragraph 2), an accelerated predetermined path angle signal is generated at time instants τ ₂ = τ ₀ + 2Δτ, τ ₃ ... ,. The process of generating the signal of the accelerated predetermined _directional angle COG _{accele.di i = 2,3..n is} repeated until the time τ _n = τ ₀ + nΔτ corresponding to the arrival of the electronic model of the vessel at point A _accele.i = A _{end .} when the signal of the length of the vector of the accelerated predetermined path angle from the accelerated program control unit is: L _{accele.i = n} <C ₁ ).

Through the interval of natural time Δt after the start of accelerated simulation t ₀ , i.e. at the moment the vessel _arrives at point A ₁ , the signal is again generated from the specified accelerated _direction angle COG _{accele.zd.ia = 0,1,2, ... na} .

1a) Generation of the signal of the accelerated predetermined _directional angle COG _{acceleration of the building ia = 0} at the time instant τ _0a (corresponding to the position of the vessel at point A ₁ at the instant of the current time t ₀ + Δt)

Use signals latitude and longitude of the point A ₁ (F = F _{uskor.i0a 1,} λ = λ _{1 uskor.i0a.)} From the receiver and the signals SNS point mooring A _{finite (finite} F, λ _finite..) Of the program control unit accelerated:

The signal of the specified accelerated path angle COG _{accele.dia i 0} is entered into the accelerated program control unit.

2a) Through the time interval Δτ at the time τ _1a = τ _0a + _{Δτ of the} arrival of the electronic model of the ship’s movement to the point A _{accelerate. 1} form in the accelerated computer the signal of the accelerated predetermined path angle COG _{accele.zd.i, a, 1} using latitude signals and longitude for the location of the future point in vessel a _uskor.1 (F _uskor.1, λ _uskor.1) from the electronic model coordinates movement of the vessel and the mooring point signals a _{finite (finite} F, λ _finite..) of the program control unit accelerated:

Tg COG _bldg.ia = (Ф _accele.ia.1- Ф _{term .} ) / (Λ _{accele.ia., 1-} λ _{end .} )

COG _{accelerated trainia, a, 1.} = ArctgCOG _zd.ia

The accelerated predetermined _directional angle signal COG _{accele.di i, a, 1} is input to the accelerated program control unit.

Similarly to point 2a), an accelerated predetermined direction angle signal is generated at time instants τ _2a = τ _0a + 2Δτ, τ ₃ ... The formation is repeated until time τ _na = τ ₀ + n _a Δτ — arrival of the electronic model of the vessel’s movement at point A _{accele.i , a, na.} = A _end. (when the signal of the length of the vector of the accelerated predetermined path angle from the accelerated program control unit is: L _{accele.i = na} <C ₁ ).

After a natural time interval of 2Δt (after the start of modeling t ₀ , i.e., at the moment the vessel _arrives at point A ₃ ), the signal of the accelerated predetermined _direction angle COG _{accele.zd.i, b} is accelerated in accelerated time similarly to that considered in _Section 2 ) Then, when the vessel arrives at points A ₃ ... A _{n · 1} , (A _n = A _end. ), The formation of the accelerated predetermined direction angle signal is repeated.

3. In the accelerated program control block, they are formed from the moment of natural time t ₀ (repeating with the time interval Δτ until the time moment τ _n = τ ₀ + nΔτ, when the signal of the length of the accelerated vector of the given direction angle will be in the vicinity of point A end _. , I.e. . L _{accelerated i = n} <C ₁ ) accelerated program signals of the course φ accelerated program _i and the speed of the vessel V accelerated program _i :

(φ _{acceleration program, i} = f ₁ (L _{acceleration i} ), V _{acceleration program i} = f ₂ (L _{acceleration i} )),

where is L _accele.i is the signal of the length of the accelerated path angle vector.

Through the time interval Δt at the moment of natural time t ₀ + Δt and accelerated time τ _0а = 0 (which corresponds to the beginning of a new accelerated cycle of calculations) in the accelerated program control unit, they are formed by repeating with the time interval Δτ until time moment τ _na = τ ₀ + n _a Δτ (corresponding to finding the signal of the length of the accelerated vector of the given direction angle in the vicinity of point A end _. , i.e. L _{accelerated.i = na} <C ₁ ) accelerated program signals of the course φ _{accelerated prog.ia} and the speed of the vessel V _{accelerated. prog .ia} .

After the next time interval 2Δt at the moment of natural time t ₀ + 2Δt = τ _0б (τ _0б - in accelerated time this corresponds to the beginning of a new accelerated cycle of computations of the accelerated process), signals of the course φ _{accele.program.iб} and the vessel speed V _acceleration are generated similarly _{. program ib} , ... up to the time interval n _i Δt, when the length of the vector of the given direction angle enters the region of point A end _. : L _{i = n} <C ₁ .

4. The formation in the electronic model of the vessel’s motion of the predicted signals of the phase coordinates of the vessel:

- track angle COG _accele.i. ,

- latitudes and longitudes (Ф _accele.i , λ _accele.i ),

- vessel speed V _accele.i. ,

- course angle and angular velocity φ _accele. , ω _acceleration

When generating signals of the phase coordinates of the vessel, typical nonlinear differential and kinematic dependences of the dynamics of the vessel’s movement are used. The accelerated computation cycle is time Δτ, which begins at time τ ₀ = 0 (when the ship reaches point A ₀ specified by the navigator on the map) and ends at time τ _n - time of the accelerated exit of the ship’s electronic model of movement to end point A end _. (when the length of the accelerated vector of the given path angle L is _{accele.i = n} <C ₁ ).

The following signals are used:

1) from the accelerated program control unit:

a) the ship's course φ _{programmed accelerator i} = f ₁ (L _accele.i ),

b) the speed of the vessel V _{programmed accelerator i.} = f ₂ (L _accele.i ).

2) From the block of accelerated executive bodies:

a) steering angle δ _accele.i ,

b) the speed of the propeller revolutions n _accele.i ,

c) thrusters of thrusters - T _accele.i .

3) From the SNA receiver — signals used as initial conditions:

a) navigational angle of the vessel COG _i

b) the latitude and longitude of the vessel (Ф _i , λ _i ),

c) the speed of the vessel V _i ,

Through the time interval Δt from the moment of natural time t ₀ + Δt = τ ₀ in the electronic model of the movement of the vessel generate signals:

a) _navigational angle of the vessel COG _accele.ia

b) the latitude and longitude of the vessel (Ф _accele.iа , λ _{, accele.iа} ),

c) the speed of the vessel V _accele.i. .

(τ _0a - in accelerated time, corresponds to the beginning of a new accelerated cycle of calculations, the process is repeated with a time interval Δτ until time τ _ni = τ ₀ + n _a Δτ, τ _na , corresponding to the time the electronic model of the ship entered the region of end point A end _. ) . The last cycle will be at L _{acceleration.i} <С

5. The formation in the accelerated computer of the control signals of the unit of accelerated executive bodies during the transition of the electronic model of the vessel from point A ₀ to point A end _. :

- accelerated steering gear δ _{rear accelerator.i} ,

- accelerated thruster d / dtT _{accelerated.i} ,

- accelerated speed control propellers d / dt n _accele.i .

The accelerated computation cycle is time Δτ, which begins at time τ ₀ = 0 (when the ship reaches point A ₀ specified by the navigator on the map) and ends at time τ _n - the time of the accelerated exit of the ship’s electronic model to point A at the end _. (when the length of the accelerated vector of the given path angle L is _{accele.i = n} <C ₁ ).

Through the time interval Δt at the moment of natural time t ₀ + Δt, τ _0а = 0 (in accelerated time this corresponds to the beginning of a new accelerated cycle of process calculations), the signals are generated in the accelerated calculator: δ _{cd accele.ia} , d / dt T _accele.ia , d / dt n. _{acceleration ia} , repeating with a time interval Δτ until time τ _na = τ ₀ + n _a Δτ (corresponding to L _{accelerated.i = na} <C ₁ ).

Through the following time interval 2Δt at the moment of natural time t ₀ + 2Δt, τ ₀ = 0, the signals are generated similarly: δ _{health accele.iб} , d / dt T _{accele.i, b} , d / dt n _{accele.i, b} , ... to the time interval n _b Δt when: L _{i = n} <C ₁ .

1) Management of the accelerated steering gear (to maintain the accelerated course angle φ _accele.i close to the program accelerated value φ _{prog accele i} ).

Where:

d / dt δ _accele.i - rudder shift speed,

(φ _accele.i -φ _{program accelerator.i} ) - signal mismatch of the accelerated course of the vessel,

δ _{accelerator i} , δ _health accelerator _i - current and specified accelerated steering angle,

K ₁ - regulation coefficient.

2) Management of an accelerated thruster (to maintain an accelerated track angle close to a given accelerated value):

Where:

T _accele.i , d / dt T _accele.i - signals of accelerated thrust of the thruster and its speed of change,

COG _accele.i COG _{rear accele.i} - signals of the current and given direction angle,

- сигнал интеграла от угла рассогласования ускоренного путевого угла,

- integral signal from the mismatch angle of the accelerated track angle,

To ₁ - regulation factors.

3) Management of the accelerated propeller speed controller (to maintain the accelerated speed of the ship close to the accelerated program):

Where:

d / dt n _accele.i , d / dt V _accele.i - signals of accelerated derivatives of the propeller revolutions and the ship speed,

K _1,2 - regulation coefficients,

(V _{accelerator i} -V accelerator accelerator _i ) - a signal of the mismatch of the accelerated speed of the vessel relative to the accelerated program value.

The signals d / dt δ _accele.i , d / dt T _accele.i and d / dt n _accele.i from the accelerated computer are supplied from the time point τ ₀ = t ₀ to τ _m at time intervals Δτ respectively to the input of the block of accelerated executive bodies :

- accelerated steering gear,

- accelerated thruster.

- accelerated propeller speed controller.

6. The formation of the signal deviation of the forecast state of the vessel from program values in the region of the end point of the mooring A end _. .

1) Signals of the length of the vector of the accelerated predetermined path angle in the region of point A end _. from the accelerated program control unit and the signals of the vector length of the given direction angle in the region of the end point A end _. from the program control block are algebraically summed, forming a deviation:

ΔL = (L _{forecast A end.} -L _{prog. A end.} ).

2) The signal of the program angle in the region of the end point A end _. from the program block and the signal of the program accelerated course angle in the region of point A end _. from the electronic model of the ship’s movement, they algebraically summarize, forming a deviation:

Δφ = ( _forecast φ _{A end.} -Φ _{prog. A end.} ).

3) Signals of the programmed speed in the region of point A end _. from the program block and accelerated speed in the region of point A end _. from the electronic model of the ship’s movement, they algebraically summarize, forming a deviation:

ΔV = (V _{forecast A end.} -V _{prog. A end.} ).

The signals ΔL, Δφ, ΔV are compared with the settings, if the deviations exceed the tolerance, an error signal is generated.

Description of the mooring device.

Consider a possible implementation of the method proposed above. The drawing shows a block diagram of a device for mooring a vessel containing:

Calculator 1. Program control unit 2. Satellite navigation system (SNA) receiver 3. Executive body unit 4. Electronic model of ship movement 5. Fast program control unit 6. Fast computer 7. Accelerated executive unit 8. Comparison unit 9. Ship 10 .

The connections between the blocks are shown in the drawing.

The implementation of all blocks of the proposed device, except for the SNA 3 receiver and the block of executive bodies 4, which are full-time ship systems, can be carried out on a modern microcontroller or personal computer.

The main features of the proposed device are:

- continuous monitoring of the process of mooring the vessel to the pier by issuing information to the skipper about the future condition of the vessel near the end point of the mooring,

- astatic control of the movement of the vessel according to the program, formed as a function of the distance of the vessel to the end point of the mooring.

The mooring device is connected at time t ₀ , when the ship reaches the point A ₀ set by the navigator on the map (beginning of the mooring mode)

To solve the two problems mentioned above, a vector of a given direction angle and tunable parametric programs are generated with continuous correction in the device, which are used for the astatic control of the vessel’s movement and the formation of a continuous forecast of the future phase state of the vessel near the end point of the mooring in the process of mooring the vessel from point A ₀ to the end mooring point A end _. .

1. Generation of a signal of a given path angle COG _bld.i. the motion vector of the vessel from point A ₀ to the final mooring point A end _. using signals of latitudes and longitudes of the current position of the vessel Ф _i , λ _i (from time t ₀ , when the vessel is at point A ₀ ).

The angle of the COG _{building i is} generated in the calculator 1 using the signals of the current latitude and longitude Φ _i , λ _i (the location of the vessel that comes from the SNA receiver 3), and point A end _. (F _end. , Λ _end ) _. Mooring of the vessel at the pier - comes from the program control unit 2. The set value of the direction angle is generated in the calculator 1 in accordance with the dependence (1).

2. The formation of the length of the vector of a given path angle L _i

The calculator 1 receives the current latitude and longitude of the vessel from the SNA 3 receiver: (Фi = Ф ₀ , λ _i = λ ₀ ), and from the control unit 2 the coordinates of the end point of the mooring A end _. A signal of length L _{i is} generated continuously from time t ₀ in calculator 1 at time intervals Δt, and it enters the program control unit 2.

3. In the functional converters of the program control unit 2, program signals of the course φ program are generated _. and vessel speed V _prog as a function of the length of the vector of the given direction angle L _i. :

( _φprog. = f ₁ (L _i ), V _prog. = f ₂ (L _i ).

4. The calculator 1 receives the initial data for the development of laws governing the block of executive bodies 4:

1) from the program control unit 2:

a) the coordinates of the end point of the mooring A end _. ,

b) the ship's course φ _prog. = f ₁ (L _i ),

c) the speed of the vessel V _prog. = f ₂ (L _i ).

2) From the receiver of the SNA 3 signals are received:

a) the current track angle COG,

b) the current coordinates of the vessel Ф _i , λ _i ,

c) the current speed of the vessel V _i .

At the output of the calculator 1, the laws of control of the block of executive bodies 4 are formed:

1) steering gear - (see relation (2)).

2) bow thruster - (see dependence (3)).

3) the speed control of the propeller - (see the dependence (4)).

The signals d / dt δ _i , d / dt T _i and d / dt n _i from the calculator 1 respectively arrive at the inputs of the steering gear, bow thruster, propeller speed controller, which also use signals from standard sensors to carry out the process of mooring the vessel to pier in accordance with a given program.

Consider the process of generating predicted values of the phase coordinates of the vessel from the moment the vessel is at point A ₀ to enter the region of the final mooring point A end _. (computational operations in the considered blocks are described above in section B).

In the accelerated calculator 7, the length of the accelerated vector of the given path angle L of the _{forecast A end is} generated _. using data on the current latitude and longitude of the vessel coming from the receiver of the satellite navigation system 3, the predicted values of the latitudes and longitudes of the vessel, generated by the electronic model of the vessel’s movement 5 and the coordinates of the mooring end point A end _. coming from the accelerated program control unit 6.

The value of L _{forecast And the end.} after the end of the accelerated cycle of calculations at the time of accelerated time, τ _n = τ ₀ + nΔτ enters the comparison unit 9. Through the intervals of natural time Δt, the accelerated cycle of calculations L of the _{forecast A end.} repeatedly repeated until the end of the mooring.

In the accelerated calculator 7 is also generated accelerated predetermined path angle COG _accele.zd. using data current latitude and longitude of the vessel coming from the satellite navigation system receiver 3, the predicted values of the longitudes and latitudes of the vessel, vessel model produced by the electronic motion 5 and the end point coordinate A mooring _finite coming from the program control unit accelerated 6. size COG _{accelerated. health} after the end of the accelerated cycle of calculations at the time of accelerated time, τ _n = τ ₀ + nΔτ enters the comparison unit 9. Through the intervals of natural time Δt accelerated cycles of calculations COG _accele.zd. repeatedly repeated until the end of the mooring process.

The development of predicted values of φ _{forecast. And the end.} V _{forecast. And the end.} carried out in the electronic model of the vessel 5, which enter the accelerated computer 7 and the comparison unit 9.

To this end, the input of the electronic model of the movement of the vessel 5 signals:

- from the receiver of the satellite navigation system 3:

COG _i , Ф _i , λ _i , V _i ,

- from the accelerated program control unit 6:

φ _{forecast forecast i.} = f ₁ (L _{i forecast.} ), -

V _{prog forecast.i.} = f ₂ (L _{i forecast.} ),

- from the block of accelerated executive bodies:

n _{accele i} , δ _{accele i} , T _{accele i} .

The failure of the device is generated in the comparison unit 9, the first input of which from the output of the electronic model of the vessel 5 receives signals: φ _{forecast. And the end.} V _{forecast. And the end.} , to the second input from the accelerated computer 7 L _{forecast. A end.} and the third input of block 9 from the program control unit 2 φ _{prog. And the end.} , V _{prog. And the end.} , L _{program A end.} .

The simulation of the vessel’s mooring device with the forecast confirmed the operability and management efficiency using the proposed method of mooring the vessel.

Claims (1)

A method of mooring a vessel using a satellite navigation system receiver, a program control unit and a calculator, to the input of which signals of the current latitude and longitude of the position of the vessel from the satellite navigation system receiver and coordinate signals of a given mooring end point are generated to generate a signal of a given direction angle vector, which is input into a program control unit, where signals are generated for programmatically controlling the movement of the vessel along the course angle and the speed of the vessel and the signal of the given track angle la, the latter is introduced into the calculator to generate a signal for controlling the vessel’s movement along the track angle, characterized in that the predicted values of the direction vector vector signal, course and speed near the end point of the mooring are used, an accelerated program control block, an accelerated calculator, and a block of accelerated executive organs are used , a comparison unit and an electronic model of the vessel’s movement, to the input of which signals of the current latitude and longitude of the vessel’s position, speed from the satellite navigation receiver are input system and signals of the state of executive means from the block of accelerated executive bodies, in the accelerated calculator form the control signals of the block of accelerated executive means using the signals of the accelerated predetermined direction vector and programmed accelerated control of the heading and speed of the vessel from the block of accelerated program control, signals of program values near the end point of the mooring - the vector of the direction angle, course and speed from the program control unit, as well as predictably of course, the projected course of the ship speed of electronic model of ship motion is introduced into a comparison unit for generating a fault signal.