SU944988A1

SU944988A1 - System for automatic retaining of ship above preset sea bottom point

Info

Publication number: SU944988A1
Application number: SU772461278A
Authority: SU
Inventors: Валентин Ипатьевич Жилин; Дмитрий Алексеевич Каинов; Олег Александрович Лось
Original assignee: Севастопольский Приборостроительный Институт
Priority date: 1977-03-10
Filing date: 1977-03-10
Publication date: 1982-07-23

Description

(54) СИСТЕМА АВТОМАТИЧЕСКОГО УДЕРЖАНИЯ СУДНА НАД ЗАДАННОЙ ТОЧКОЙ МОРСКОГО ДНА(54) SYSTEM OF AUTOMATIC HOLDING OF SHIP OVER THE GIVEN POINT OF THE SEA BOTTOM

1one

Изобретение относитс к судовой автоматизации и может быть использовано дл стабилизации судов над заданной точкой морского дна, например при проведении разведки и добычи полезных ископаемых дна Мирового океана, проведении спасательных , научно-исследовательских работ с судов в режиме динамической сто нки.The invention relates to shipboard automation and can be used to stabilize ships above a given point on the seabed, for example, during exploration and mining of the sea floor of the oceans, rescue and research work from ships in the mode of dynamic parking.

Известна система автоматического удержани судна над заданной точкой морского дна, содержаща измеритель линейных перемещений и угла курса судна, подключенные к одному и другому входам счетнорешающего блока, св занного с приводом исполнительных средств активного управлени перемещением судна, датчики направлений и скоростей ветра и течени и устройство оптимизации велич,ин и направлений упоров средств активного управлени перемещением судна 1.A known system for automatically keeping a ship above a given point on the seabed contains a linear displacement meter and a ship heading angle connected to one and another inputs of a counting unit associated with driving actuating means for actively controlling the movement of the ship, directional sensors and wind and current speeds and an optimization device the magnitude, inn, and directions of the stops of the means of actively controlling the movement of the vessel 1.

Недостатком указанной системы вл етс невысока точность и низка экономичность стабилизации при воздействии переменных внешних возмущений, например шквалистых ветров.The disadvantage of this system is the low accuracy and low cost of stabilization when exposed to variable external disturbances, such as squally winds.

Цель изобретени - повышение точности стабилизации судна при повышении экономичности системы.The purpose of the invention is to improve the accuracy of stabilization of the vessel while increasing the efficiency of the system.

Поставленна цель достигаетс тем, что система снабжена подключенным к датчикам направлений и скоростей ветра и течени блоком вычислени оптимального угла ориентировани и формировани компенсирующего воздействи , один и другой выходы которого подключены соответственно но к третьему входу счетно-решающего блока и одному из входов устройства оптимизации величин и направлений упоров средств активного управлени перемещением судна, другой вход которого соединен с выходом счетно-рещающего блока, 15 а выход - с приводом исполнительных средств активного управлени перемещением судна.The goal is achieved by the fact that the system is equipped with a unit for calculating the optimum orientation angle and forming a compensating effect connected to the wind direction and wind and current sensors, one and the other outputs of which are connected respectively to the third input of the calculating unit and directions of stops of the means of active movement control of the vessel, the other input of which is connected to the output of the counting unit, 15 and the output is actuated means active management vessel displacement.

На чертеже представлена функциональна схема системы.The drawing shows a functional system diagram.

Claims

20 The system contains a block 1 for calculating the optimal angle of orientation and shaping of compensating influences, connected by its inputs to speed sensors 2 and wind and current directions 3, and by one output to device 4 for optimizing the magnitudes and directions of stops of the means for actively controlling movement of the vessel 5, moreover, the output of the device 4 is connected with the actuator 6 of the active control actuators, linear displacement meters 7 and the angle of course 8, connected to the counting unit 9, the output of which is connected to the device 4. The system works as follows. The signals from sensors 2 and 3 in block 1 for calculating the optimum course angle and the formation of a compensating effect determine the magnitudes of the components of the disturbing forces and the optimal course angle of the vessel. Signals corresponding to the forces that need to be developed to compensate for external disturbances, through the summing inputs of the optimization device 4 and the directions of the active control stops, arrive at the drive inputs of the executive means of active control and result in the appearance of the forces of the stops compensating for the corresponding external disturbances. The difference between the specified optimal heading angle, the corresponding outward disturbances and the heading angle measured by the heading angle sensor 8, as well as the information on the horizontal movements of the vessel relative to a predetermined position, measured by the sensors 7, enter the counting unit 9, generating signals corresponding to controls leading the ship to a position above a given point on the seabed and an optimal course angle. The control signals necessary to eliminate the deviation are sent to the summing inputs of the optimization device 4 for the values and directions of the control stops, which redistributes the total load to create the necessary components of the active control stops between several active controls, while minimizing the energy expended on control at any time. The presence in the system of a compensation circuit consisting of sensors 2 and 3 of block I, device 4 and drive b, a heading control loop of the vessel including sensor 8, block 7, device 3 connected to drive 6 together with the optimal subsystem the course angle (sensors 8 and 3 and block 2), as well as the use of the device 4 to optimize the magnitude and direction of the stops of the active control means, performing an optimal load redistribution between several active control means developing the necessary Power and torque control allow you to install less active power and less power on the ship, which simplifies the stabilization system and improves its accuracy while increasing the efficiency of the system. Claims of the Invention System for automatically holding a vessel over a given point on the seabed, containing linear displacement meters and vessel heading angles connected to one and the other inputs of the counting unit associated with driving actuating means for actively controlling the movement of the vessel, directional sensors and wind and current speeds , and a device for optimizing the magnitudes and directions of the stops of the means for actively controlling the movement of the vessel, characterized in that, in order to improve the accuracy of stabilization of the vessel during efficiency of the system, it is equipped with a unit for calculating the optimal orientation angle and forming a compensating effect, one and the other outputs of which are connected to the third input of the calculating block and one of the inputs of the device Active ship motion control. the other input of which is connected to the output of the counting unit, and the output to the actuator actuating means for actively controlling the movement of the vessel. Sources of information taken into account during the examination 1. USSR Author's Certificate No. 583032, cl. B 63 N 25/00, 23.02.76 (prototype).