RU2424944C1 - Ship control system - Google Patents

Abstract

FIELD: transport. ^ SUBSTANCE: invention relates to navigation. Proposed system comprises set of transducers (for example, stern plane transducer, drift angle transducer, etc), course setter, satellite navigation hardware, transducer data and other data acquisition unit, three computer modules, cloak pulse generator, and majorisation unit. Computer modules respond to input data received to process it in redundancy count mode. After computation of control effects, said modules output control codes via majorisation unit to ship actuators' control modules. Synchronised operation of computation modules allows identity of output data of all three computation modules. In case one of said modules fails, its output data may differ that of healthy modules. Yet, since data comes to external devices after majorisation unit it incorporates identical magnitudes from at least two healthy modules, that is, with module faulty, data of healthy modules comes to output. ^ EFFECT: higher reliability and safety. ^ 5 cl, 5 dwg

Description

This technical solution relates to the field of navigation, and in particular to means of automatic control of the movement of a wide class of vessels.

Known automatic ship control system, patent RU 2248914, B63H 25/04 of 03/01/2004, comprising a heading sensor and a heading gear, an angular velocity sensor, a stern rudder sensor, the outputs of which are connected to the inputs of the first adder-amplifier, the output of which is connected to the input of the steering gear stern rudders, drift angle sensor and bow rudder sensor, the output of which is connected to the first input of the second adder-amplifier. In addition, the system includes a vessel lateral displacement sensor and adjuster, a permissible drift angle adjuster, and a logic unit containing an algebraic adder, an adder of two signal modules, a diode, and an electromagnetic relay with two normally open and normally closed contact groups. The disadvantages of this technical solution are:

1. Instability of characteristics. In connection with the use of analog nodes, the parameters of which substantially depend on operating conditions (primarily on the ambient temperature), a drift of the parameters of the system as a whole will be observed.

2. Low fault tolerance. The system structure does not provide any means of neutralizing the failures of individual nodes, so the failure of any node will lead to a failure of the system as a whole.

3. Limited functionality. The introduction of additional control links or the expansion of the set of sensors will require a complete redesign of the control system equipment.

4. Fixed control algorithm. As in the case of expansion, the implementation of another control algorithm will require complete processing of the equipment.

The tasks of expanding the functionality, applying various control algorithms and increasing stability due to the presence of a digital computer are partially solved in the equipment for automatic vessel motion control, patent RU 2221728, B632H 25/04 of 05/13/2002, which contains, in addition to the computer, a track angle adjuster, a shift angle sensor steering wheel, steering gear, reference and auxiliary antenna, satellite navigation system receiver, adder, two integrators and differentiator. However, the lack of low fault tolerance in this equipment is still present, since failure of a computing device will entail a failure of the entire system.

The system of automatic control of a high-speed vessel, the patent RU 2085430, B63B 1/28 dated 07/27/1997, containing two groups of computers connected to the state and position sensors of the vessel and controlling two groups of bow and stern steering surfaces, respectively, most fully solves the problem of maintaining operability. From a pair of duplicating calculators of one group, each calculator is connected to at least one of the calculators of a similar pair of another group and to the corresponding group of two duplicating groups of sensors with the formation of an independent channel for controlling the drives of all steering surfaces. This invention can be considered as a prototype invention for the claimed technical solution. However, it also has a significant drawback - to detect the failure of the computer in a system of this configuration is a rather difficult task.

The task to which the claimed technical solution is directed is to automatically maintain the operability of the ship control system in the event of a failure in the computing device.

This problem is solved due to the fact that the claimed technical solution contains a three-channel computing device with a block of majorization of output signals and a common block synchronization of channels.

A control system is proposed, the structural diagram of which is shown in FIG. 1, where the number 1 denotes a group of sensors, the number 2 denotes a data collection unit, the number 3 denotes a synchronization unit, and the numbers 4, 5 and 6 indicate the first, second and third computing modules, respectively. The number 7 designates the majority block.

In the system, the outputs of the sensors are connected to the inputs of the information collection unit 2, the outputs of which, in turn, are connected to the information inputs of the first 4, second 5, and third 6 computing modules. The first second and third group of outputs of the synchronization unit 3 are connected respectively to the synchronization inputs of the computing modules 4, 5, 6, and the first and second additional outputs of the synchronization unit are connected to the same inputs of the majorization device. The outputs of the computing modules are connected to the inputs of the majority unit 7, the output of which is the output of the system and can be connected to control devices of the actuators of the vessel.

Figure 2 shows the structural diagram of the unit for collecting information (integrator of navigation information). The number 1 denotes the group of transceiver elements, the number 2 denotes the block of isolating elements, the numbers 3, 4, 5, 6 indicate the first, second, third and fourth controllers for exchanging sensors, the number 7 denotes the control unit, the number 8 denotes the controller with the computing device .

In this case, the group of transceiver elements has a number of inputs and outputs used to interface with sensors and which are inputs and outputs of a navigation information integrator, and a number of inputs and outputs connected to the outputs and inputs of the block of isolating elements.

The block of isolating elements repeats information from the inputs and outputs connected to the group of transceiver elements to the corresponding outputs and inputs connected to the exchange controllers with sensors, the remaining inputs and outputs of which are connected to the outputs and inputs of the control unit. The inputs and outputs of the control unit, not connected to the exchange controllers with sensors, are connected to the exchange controller with a computing device, the remaining inputs and outputs of which are the inputs and outputs of the navigation information integrator and are connected to the computing device.

The block diagram of the clock generator is shown in Fig. 3, where the number 1 denotes the master oscillator, the number 2 denotes the element And, the number 3 denotes the shift register, the number 4 denotes the first decoder, the numbers 5, 6 and 7 denote the first, second and third group of triggers, respectively - shapers of clock pulses, the number 8 indicates the second decoder. The output of the master oscillator is connected to the first input of the element And and the synchronizing input of the shift register, to the triggering input of which the output of the element And is connected, and the outputs of the shift register are connected to the inputs of the first and second decoder, the output of which is connected to the second input of the element And the reset outputs of the first decoder are connected to the trigger and reset inputs of the triggers of the shapers of the first, second and third groups of triggers, the outputs of which are the synchronizing outputs of the ovatelya, wherein the first and second additional outputs are corresponding outputs of the second decoder.

The block diagram of the majority unit is shown in Fig. 4, where the numbers 1, 2, and 3 denote the first, second, and third nodes, the number 4 indicates the majorization element, and the number 5 indicates the buffer amplifier.

In this case, the first and second synchronizing inputs of the binding nodes are respectively the inputs of the majority block, and their outputs are connected to the inputs of the majority element, connected by the output to the buffer amplifier, the output of which is the output of the block.

The binding node diagram is shown in Fig. 5, where the numbers 1 and 2 indicate the first and second triggers, in which the synchronizing inputs are the corresponding inputs of the binding node, the input of which is the input of the first trigger connected to the input of the second trigger, the output of which is the output of the binding node

The system works as follows:

Information from sensors and adjusters enters the information collection unit, which composes it into arrays that are transmitted to computing modules at their request.

The computing modules, having received identical input information in the backup account mode, process it and, after calculating the control actions, issue control codes through the majority unit to the control devices of the vessel's actuating mechanisms. At the same time, the synchronization of the operation of computing modules from a single shaper of clock pulses ensures the identity of the output information of all three computing modules.

In the event of a failure in one of the computing modules, its output information may differ from the information of the correctly working ones, but since the information arrives to external devices after the majority block, it will have values that coincide for at least two computing modules, i.e. in case of failure of one module, serviceable information will be output.

Such a construction of the system significantly increases the likelihood of issuing the correct control information, which ensures increased reliability of the ship’s control system and, accordingly, safety.

The technical results provided by the control system vessel of the reduced configuration are

- increase the fault tolerance of the control system;

- improving the safety of navigation;

- improving the efficiency of shipping;

- improving the working conditions of skippers;

- ensuring the environmental safety of waterways;

- simplification of failure rejection algorithms;

- expansion of the functionality of the control system;

- the ability to implement various control algorithms;

- improving the stability of the control system parameters;

- Provision of promising means of communication and navigation.

Claims (5)

1. The ship’s control system, containing a group of sensors and information transmitters, characterized in that it includes an information collection unit connected by an input to sensors and information receivers, and an output - to the inputs of three computing modules connected by outputs to the input of a majorization block, whose output is the output of the system, and the clock inputs are connected to the additional outputs of the clock generator, in which the first, second and third groups of outputs are connected respectively to the clock inputs of the first th, second and third computing modules. 2. The ship control system according to claim 1, characterized in that the information collection unit (navigation information integrator) contains a group of transceiver elements, a block of isolating elements, four exchange controllers with sensors, a control unit and an exchange controller with a computing device, while the group of transceiver elements has a number of inputs and outputs used to interface with sensors and which are inputs and outputs of a navigation information integrator, and a number of inputs and outputs connected to the outputs and inputs of the block control elements repeating information from inputs and outputs connected to a group of transceiver elements to the corresponding outputs and inputs connected to exchange controllers with sensors, the remaining inputs and outputs of which are connected to the outputs and inputs of the control unit, while the inputs and outputs of the control unit, not connected to the exchange controllers with sensors, connected to the exchange controller with a computing device, the remaining inputs and outputs of which are the inputs and outputs of the navigation information integrator and sub yuchayutsya to a computing device. 3. The system according to claim 1, characterized in that the clock generator comprises a master oscillator, the output of which is connected to the first input of the And element and to the clock input of the shift register, the outputs of which are connected to the inputs of the first decoder and the inputs of the second decoder, whose output is connected to the second input of the element And, the additional outputs are the outputs of the shaper, in which the first, second and third groups of outputs are respectively the outputs of the first, second and third groups of triggers-shapers, The start and reset inputs are the corresponding outputs of the first decoder. 4. The system according to claim 1, characterized in that the majority block contains the first, second and third binding nodes, in which the first and second clock inputs are block inputs, and the outputs are connected to the input of the majority element, the output of which is connected to the input of the buffer amplifier whose output is the output of the block. 5. The system according to claim 4, characterized in that each binding node contains first and second triggers, in which the synchronizing inputs are respectively the first and second synchronizing inputs of the binding node, the input of which is the input of the first trigger, the output of which is connected to the input of the second trigger, whose output is the output of the binding node.

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