WO2013121935A1 - 自動操舵装置、及び自動操舵方法 - Google Patents
自動操舵装置、及び自動操舵方法 Download PDFInfo
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- WO2013121935A1 WO2013121935A1 PCT/JP2013/052625 JP2013052625W WO2013121935A1 WO 2013121935 A1 WO2013121935 A1 WO 2013121935A1 JP 2013052625 W JP2013052625 W JP 2013052625W WO 2013121935 A1 WO2013121935 A1 WO 2013121935A1
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- rudder
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
- B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/36—Rudder-position indicators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/06—Steering by rudders
- B63H25/38—Rudders
Definitions
- the present invention mainly relates to a configuration of an automatic steering device mounted on a moving body such as a ship.
- FIG. 9 is a block diagram of an automatic steering system provided with a conventional general automatic steering device 101.
- This automatic steering device 101 is attached to the hull 1 of a ship to be controlled.
- the hull 1 is provided with a rudder 2 and a direction sensor 3 in addition to the automatic steering device 101.
- the rudder 2 includes an appropriate rudder driving device (for example, a hydraulic cylinder) for changing the rudder angle (steering angle).
- the steering 2 receives a predetermined steering command, the steering 2 is configured to change (steer) the steering angle by driving the rudder driving device in accordance with the steering command.
- the azimuth sensor 3 is configured to detect the azimuth (head azimuth ⁇ ) that the bow of the hull 1 is facing.
- a rudder angle sensor 4 that detects an actual rudder angle (actual rudder angle ⁇ r ) is provided in the vicinity of the rudder 2.
- the automatic steering apparatus 101 includes a target course calculation unit 10, a target rudder angle calculation unit 11, and a steering command unit 12.
- the target course calculation unit 10 is input with a set course ⁇ S that designates the direction in which the hull 1 should proceed.
- This setting course ⁇ S can be manually set by, for example, the user operating a setting knob.
- the target course calculation unit 10 calculates the target course ⁇ 0 based on the set course ⁇ S.
- the target rudder angle calculation unit 11 calculates a target rudder angle ⁇ , which is a rudder angle required to direct the heading ⁇ to the target course ⁇ 0 .
- the target rudder angle ⁇ can be calculated by a known control method such as PID control based on the course deviation angle ⁇ that is the difference between the target course ⁇ 0 and the bow direction ⁇ and the bow direction ⁇ .
- the conventional automatic steering apparatus 101 is configured to calculate the a difference between the target steering angle [delta] and the actual steering angle [delta] r steering angle deviation angle .DELTA..delta.
- the steering command unit 12 is configured to drive the steering 2 so that the steering angle deviation angle ⁇ becomes zero (so that the actual steering angle ⁇ r coincides with the target steering angle ⁇ ).
- a steering command is output.
- the rudder 2 changes the rudder angle according to this steering command.
- the steering angle can be automatically corrected and the heading ⁇ can be directed to the set course ⁇ S. Accordingly, it is easy to maintain the course regardless of disturbances such as waves and winds, and the burden on the operator can be greatly reduced.
- JP 63-20292 A Japanese Patent No. 3677274 US Pat. No. 5,235,927
- the conventional automatic steering apparatus 101 obtains the steering angle deviation angle ⁇ based on the actual steering angle ⁇ r detected by the steering angle sensor 4. If the rudder angle deviation ⁇ is not known, “how much the steering 2 should be driven in which direction” is not known, and the above control cannot be realized. Therefore, in the conventional automatic steering apparatus 101, it is necessary to obtain the steering angle deviation angle ⁇ . For this reason, the rudder angle sensor 4 necessary for obtaining the rudder angle deviation angle ⁇ is considered to be an essential configuration in the automatic steering device.
- this type of automatic steering device is often retrofitted to the hull.
- the rudder angle sensor is placed near the rudder (stern), but the console (control panel) of the automatic steering device is often placed at the center of the hull, so it is necessary to route the wiring from the rudder angle sensor to the console.
- the above wiring may be difficult.
- a conventional automatic steering device cannot be adopted for such a hull.
- the present invention has been made in view of the above circumstances, and an object of the present invention is to provide an automatic steering device in which a steering angle sensor can be omitted.
- an automatic steering device having the following configuration. That is, the automatic steering apparatus includes a target rudder angle calculation unit, a target rudder angle storage unit, and a steering command unit.
- the target rudder angle calculation unit calculates a target rudder angle of the rudder based on the heading of the moving body and the target course.
- the target rudder angle storage unit stores a target rudder angle at the previous steering command.
- the steering command unit steers based on the latest target steering angle calculated by the target steering angle calculation unit and the target steering angle at the previous steering command stored in the target steering angle storage unit.
- a steering command for instructing the machine to turn is output.
- the target rudder angle has changed by referring to the latest target rudder angle and the target rudder angle at the time of the previous steering command.
- the target rudder angle has not changed, it can be determined that it is not necessary to change the rudder angle, and when the target rudder angle has changed, it can be determined that the steering should be performed. Therefore, by controlling the rudder based on this, automatic steering control can be realized without detecting the current rudder angle by the rudder angle sensor.
- the steering command unit has a target steering angle change amount that is a difference between the latest target steering angle and the target steering angle at the previous steering command less than a predetermined steering threshold. In this case, it is preferable not to output the steering command.
- the steering command is not output, so that frequent frequent steering is suppressed and stable control can be performed.
- the steering command unit includes a steering trigger output unit and a steering drive processing unit.
- the steering trigger output unit outputs a steering trigger when the target steering angle change amount is equal to or greater than the steering threshold.
- the steering drive processing unit outputs the steering command so as to drive the steering for a predetermined steering drive time in response to the steering trigger.
- control is performed to change the rudder angle in a pulse manner, such as driving the rudder for a predetermined time each time a trigger is received. Thereby, it is possible to prevent the rudder angle from being greatly changed at a time, and to stabilize the control.
- the target rudder angle storage unit updates the stored content to the latest target rudder angle in accordance with the steering trigger.
- the content stored in the target rudder angle storage unit can be updated each time a steering command is output.
- the automatic steering device includes a rudder angle keep command unit that prohibits the output of a steering trigger in a direction to turn the rudder back.
- the automatic steering device of the present invention since the automatic steering device of the present invention is not controlled based on the actual rudder angle, it is difficult to accurately adjust the rudder to the center of the rudder angle. For this reason, when the rudder is turned back, the rudder is turned to the opposite side beyond the center of the rudder angle, and unnecessary rudder turning may occur. Therefore, as described above, it is possible to prevent unnecessary rudder as described above by prohibiting driving the rudder in the direction in which the rudder is turned back.
- the automatic steering apparatus includes an update trigger output unit that outputs an update trigger when a steering trigger in a direction to turn back the rudder is prohibited by the rudder angle keep command unit.
- the target rudder angle storage unit updates the stored content to the latest target rudder angle in response to the update trigger.
- the target rudder angle storage unit stores the target rudder angle at the previous steering command.
- the steering command is not output, so that the stored content of the target steering angle storage unit is not updated as it is. Therefore, when the steering trigger is prohibited, the storage content of the target steering angle storage unit is updated by issuing an update trigger separately from the steering trigger. Thereby, a steering can be controlled more appropriately.
- the automatic steering apparatus includes a traveling state determination unit that determines whether the traveling state of the moving body is a straight traveling state.
- the rudder angle keep command unit prohibits the output of a steering trigger in a direction to turn the rudder back when the moving body is in a straight traveling state.
- the automatic steering apparatus includes a left / right balance detection unit and a left / right balance adjustment unit.
- the left / right balance detection unit detects a deviation in the left / right steering amount based on a difference between an average value of the heading of the moving body and the target course.
- the left / right balance adjustment unit adjusts a steering drive time when the rudder is steered to the right and a steering drive time when the steer is steered to the left based on the bias.
- the rudder may turn off differently on the left and right due to individual differences in the rudder. Even in such a case, the deviation of the left and right steering amount can be corrected by adjusting the steering driving time on the left and right sides as described above.
- the automatic steering apparatus includes a steering confirmation unit and a steering driving time temporary adjustment unit.
- the turning confirmation unit detects whether or not the rudder has moved based on a change in the turning angular velocity of the moving body.
- the steering drive time temporary adjustment unit temporarily increases the steering drive time when the rudder is not moving despite the output of the steering trigger.
- this automatic steering method includes a target rudder angle calculation step, a previous target rudder angle acquisition step, and a steering command step.
- the target rudder angle calculation step the target rudder angle of the rudder is calculated based on the heading of the moving body and the target course.
- the previous target rudder angle acquisition step the target rudder angle at the time of the previous steering command is acquired.
- the steering command step the steering is based on the latest target rudder angle calculated in the target rudder angle calculation step and the target rudder angle in the previous steered command acquired in the previous target rudder angle acquisition step.
- indicates steering to is output.
- a target steering angle change amount that is a difference between the latest target steering angle and the target steering angle at the previous steering command is less than a predetermined steering threshold. In this case, it is preferable not to output the steering command.
- the steering command process includes a steering trigger output process and a steering drive processing process.
- a steering trigger is output when the target steering angle change amount is equal to or greater than the steering threshold.
- the steering drive processing step the steering command is output so that the steering is driven for a predetermined steering drive time in accordance with the steering trigger.
- the block diagram which shows the structure of the automatic steering system provided with the automatic steering apparatus which concerns on one Embodiment of this invention.
- the figure explaining the effect of the steering prohibition command by a steering angle keep command part.
- the flowchart of the automatic steering method which concerns on one actual form of this invention.
- the block diagram which shows the structure of the automatic steering system provided with the automatic steering apparatus which concerns on a modification.
- FIG. 1 is a block diagram showing a configuration of an automatic steering system provided with an automatic steering device 5 according to the present invention.
- This automatic steering system is provided in the hull 1 of a ship (moving body) and automatically controls the rudder of the ship.
- the automatic steering system includes an automatic steering device 5, a direction sensor 3, and a rudder 2.
- the direction sensor 3 detects and outputs the direction (heading) in which the bow (head) of the hull 1 is facing.
- the rudder 2 includes an appropriate rudder driving device (for example, a hydraulic cylinder) for changing the rudder angle (steering angle).
- the steering 2 receives a predetermined steering command, the steering 2 is configured to change the steering angle at a substantially constant angular velocity in a direction specified by the steering command.
- the steering 2 is comprised so that the present steering angle may be maintained, when the steering command is not input.
- saying “add the rudder” it means changing the rudder angle in a direction away from the rudder angle center, and when saying “turning the rudder back”, It shall refer to changing the rudder angle in a direction approaching.
- it may be simply referred to as “steer”.
- One feature of the automatic steering system of the present embodiment is that the steering angle sensor 4 provided in the conventional automatic steering system (FIG. 9) is omitted. Since the rudder angle sensor 4 can be omitted in this way, the automatic steering device 5 of the present embodiment can be easily adopted for a hull to which it is difficult to attach the rudder angle sensor.
- the automatic steering device 5 includes a target course calculation unit 10, a target rudder angle calculation unit 20, a steering command unit 23, and a target rudder angle storage unit 24.
- the target course calculation unit 10 is input with a set course ⁇ S that designates the direction in which the hull 1 should proceed.
- This setting course ⁇ S can be manually set by, for example, the user operating a setting knob.
- the target course calculation unit 10 is configured to calculate the target course ⁇ 0 based on the set course ⁇ S. That is, when the set course ⁇ S is constant, the target course calculation unit 10 outputs the set course ⁇ S as it is as the target course ⁇ 0 .
- the target course calculation unit 10 gradually changes the output target course ⁇ 0 toward the new set course ⁇ S.
- the setting course ⁇ S input to the target course calculation unit 10 may be automatically set by a known navigation device mounted on the hull 1.
- the target rudder angle calculation unit 20 is configured to calculate and output a target rudder angle.
- This target rudder angle is a rudder angle necessary for directing the heading ⁇ to the target course ⁇ 0 (making the course deviation angle ⁇ closer to zero).
- the target rudder angle is calculated by known PD control based on the course deviation angle ⁇ and the heading ⁇ .
- the target rudder angle calculation unit 20 includes a P control unit 21 and a D control unit 22.
- P control unit 21 multiplies the proportional gain to heading deviation angle [Delta] [theta], obtains the proportional steering angle [delta] P.
- D control unit 22 obtains the rate of change of heading theta (differential amount), finding a differential steering angle [delta] D is multiplied by a differential gain thereto. Then, by adding the proportional steering angle [delta] P differential steering angle [delta] D, to obtain the target steering angle.
- the proportional gain and differential gain may be set in advance, or adaptive PD control that automatically adjusts the gain may be used.
- the calculation of the target rudder angle in the target rudder angle calculation unit 20 is repeatedly performed at a predetermined calculation cycle. That is, new target rudder angles are output one after another at a predetermined calculation cycle.
- the latest target rudder angle output by the target rudder angle calculation unit 20 may be referred to as “latest target rudder angle ⁇ new ”.
- PID control is generally used to calculate the target rudder angle.
- PD control in which integral control is omitted is used. ing. This is because the automatic steering device 5 of the present embodiment determines the turning based on the amount of change ⁇ chg of the target rudder angle (described later). Because it can.
- the steering command unit 23 is configured to output a steering command to the steering 2.
- This steering command designates the direction in which the rudder angle is changed (whether it is steered to the left or right).
- the rudder 2 changes the rudder angle at a substantially constant angular velocity in the designated direction when the steering command is input, and the current rudder angle when the steering command is not input. Is configured to maintain. Therefore, as the time during which the steering command is output to the steering 2 is longer, the rudder angle is greatly changed in the designated direction.
- the amount of change in the steering angle can be adjusted by adjusting the time for outputting the steering command to the steering 2.
- the steering angle deviation angle ⁇ is obtained based on the actual steering angle ⁇ r detected by the steering angle sensor 4, and a steering command for the steering 2 is output based on this.
- a steering command for the steering 2 is output based on this.
- the steering angle deviation angle ⁇ is zero, it means that the actual steering angle ⁇ r coincides with the target steering angle ⁇ , and it is not necessary to change the steering angle. Therefore, in this case, no steering command is output.
- the steering angle deviation angle ⁇ is not zero, it means that the actual steering angle ⁇ r is deviated from the target rudder angle ⁇ . Therefore, a steering command is output so as to eliminate the deviation.
- the conventional automatic steering apparatus 101 outputs a steering command based on the detection value of the rudder angle sensor 4.
- the automatic steering system of this embodiment does not have a steering angle sensor, it is not possible to output a steering command based on the steering angle deviation angle ⁇ as described above.
- the steering command unit 23 is configured to issue a steering command based on the latest target steering angle ⁇ new and the target steering angle ⁇ prev at the previous steering command. .
- the latest target rudder angle ⁇ new is Since this means that there has been no change since the last steering command, there is no need to change the rudder angle. Therefore, in such a case, it can be determined that the steering command need not be output.
- the target rudder angle change amount ⁇ chg is not zero, the latest target rudder angle ⁇ new has changed since the previous steering command. Therefore, in such a case, it is preferable to change the rudder angle in the direction in which the target rudder angle has changed.
- the direction in which the target rudder angle has changed (whether the target rudder angle has changed so as to be steered to the left or right) can be determined based on the sign (plus or minus) of the target rudder angle change amount ⁇ chg .
- the automatic steering device 5 of the present embodiment includes a target rudder angle storage unit 24 for storing a target rudder angle ⁇ prev at the time of the previous steering command.
- the target rudder angle storage unit 24 is configured to be able to store the target rudder angle calculated by the target rudder angle calculation unit 20.
- the target rudder angle storage unit 24 is configured to overwrite and update the stored content with the latest target rudder angle ⁇ new output by the target rudder angle calculation unit 20.
- the steering command unit 23 includes a steering trigger output unit 25 and a steering drive processing unit 26.
- the latest target rudder angle ⁇ new calculated by the target rudder angle calculation unit 20 is input to the steering command unit 23.
- the steering command unit 23 reads the target steering angle ⁇ prev at the previous steering command stored in the target steering angle storage unit 24 and reads the latest target steering angle ⁇ new.
- a target rudder angle change amount ⁇ chg which is a difference between the rudder angle ⁇ new and the target rudder angle ⁇ prev at the previous steering command is calculated.
- the target rudder angle change amount ⁇ chg is input to the steering trigger output unit 25.
- the steering trigger output unit 25 is configured to output a steering trigger when the target steering angle change amount ⁇ chg (its absolute value) is equal to or greater than a predetermined steering threshold (FIG. 2A). ).
- This steering trigger includes information for designating the direction in which the steering angle is changed (whether the steering is turned to the left or right). As described above, the direction in which the rudder angle is changed can be determined based on the sign of the target rudder angle change amount ⁇ chg . Further, the steering trigger output unit 25 is configured not to output a steering trigger when the target steering angle change amount ⁇ chg (absolute value thereof) is less than the steering threshold.
- the steering trigger is input to the steering drive processing unit 26.
- the steering drive processing unit 26 outputs to the steering 2 a steering command that instructs to steer in the direction specified by the steering trigger.
- the steering drive processing unit 26 is configured to continue outputting the steering command only for a predetermined steering drive time after the steering trigger is input.
- the steering drive time is set to a relatively short time (for example, several hundred milliseconds).
- the change amount of the rudder angle by one turning trigger is relatively small (for example, the change amount of the rudder angle is about 1 °).
- the automatic steering device 5 of the present invention does not control the rudder based on the actual rudder angle (actual rudder angle), it may become unstable if the rudder is moved greatly at once. Therefore, as described above, every time a steering trigger is received, the rudder angle is changed in a pulse manner, such that the rudder 2 is driven for a predetermined rudder drive time. Thereby, it is possible to prevent the rudder angle from being greatly changed at a time, and to stabilize the control.
- the steering trigger output unit 25 of the present embodiment is configured not to output a steering trigger when the target steering angle change amount ⁇ chg is less than a predetermined steering threshold.
- the steering drive processing unit 26 does not output a steering command to the steering 2 when no steering trigger is input. That is, when the target steering angle change amount ⁇ chg is less than the steering threshold, the automatic steering device 5 of the present embodiment maintains the steering angle at present without performing steering (FIG. 2B).
- a steering since a steering is not performed when the change of a target steering angle is small, it can suppress that a fine steering is performed frequently and can perform stable control.
- the steering trigger is also input to the target rudder angle storage unit 24.
- the target rudder angle storage unit 24 is configured to receive a steering trigger and overwrite and update the stored contents with the latest target rudder angle ⁇ new . Thereby, the memory content of the target rudder angle memory
- storage part 24 can be updated whenever a steering command is output. In this way, the target rudder angle storage unit 24 can store the target rudder angle ⁇ prev at the previous steering command.
- the automatic steering device 5 of this embodiment does not have a steering angle sensor, it is not possible to perform control to make the current steering angle (actual steering angle) exactly match the target steering angle.
- the current steering angle actual steering angle
- the hull 1 turns without any problem as long as it matches to some extent. Therefore, even if the actual rudder angle cannot be accurately matched with the target rudder angle, the automatic steering control by the automatic steering device 5 of the present embodiment can be performed with sufficient accuracy and without any problem.
- the automatic steering device 5 of this embodiment does not have means (steering angle sensor) for confirming whether or not the rudder has returned to the center of the rudder angle, it is difficult to accurately adjust the current rudder angle to the center of the rudder angle. For this reason, when the control “to bring the rudder closer to the center of the rudder angle” is performed with the configuration of the present embodiment, the rudder may be turned to the opposite side after passing through the rudder angle center. Thus, despite the target steering angle for the purpose of bringing the steering of the steering angle middle it is outputted, that the rudder will be cut on the opposite side past the steering angle middle, herein Then it is called “unnecessary steering”.
- Unnecessary steering as described above is particularly problematic when the hull 1 is traveling straight. Further, while the hull 1 is traveling straight, the rudder is basically located near the center of the rudder angle, so even if the rudder moves slightly, the rudder angle center is exceeded. That is, there is a high possibility that unnecessary rudder will occur while the hull 1 goes straight.
- the steering command unit 23 of the present embodiment includes a traveling state determination unit 27 and a rudder angle keep command unit 28 that prohibits the output of a steering trigger in a direction to switch back the rudder.
- the traveling state determination unit 27 is configured to determine the traveling state of the hull 1 (whether the vehicle is traveling straight or turning). An appropriate method can be used as a method of determining the running state.
- the traveling state determination unit 27 of the present embodiment is configured to determine that the hull is turning when the set course ⁇ S input to the target course calculation unit 10 is significantly changed. That is, when the set course ⁇ S is greatly changed, the rudder 2 is controlled so that the heading ⁇ is directed to the changed set course ⁇ S , and the hull 1 turns significantly. Therefore, when the set course ⁇ S is significantly changed, it can be determined that the hull is turning.
- Whether or not the set course ⁇ S has been significantly changed can be determined by looking at the difference between the set course ⁇ S and the target course ⁇ 0 . That is, as described above, the target course ⁇ 0 output by the target course calculation unit 10 gradually changes toward the set course ⁇ S. For this reason, for example, when the setting course ⁇ S is greatly changed by the user's setting change, the difference between the target course ⁇ 0 and the setting course ⁇ S temporarily increases. Therefore, when the absolute value of the difference between the target course ⁇ 0 and the set course ⁇ S exceeds a predetermined turning judgment threshold value (when the set course ⁇ S is significantly changed), the traveling state determination unit 27 turns the hull 1. It is determined that it is in a state.
- the traveling state determination unit 27 is configured to determine that the hull 1 is in a straight traveling state when the absolute value of the difference between the target course ⁇ 0 and the set course ⁇ S is less than a predetermined turning determination threshold value.
- the traveling state determination unit 27 When it is determined that the hull 1 is in the straight traveling state, the traveling state determination unit 27 outputs a steering angle keep determination request to the steering angle keep command unit 28.
- the rudder angle keep command unit 28 receives the rudder angle keep determination request, the latest rudder angle ⁇ new output by the target rudder angle calculation unit 20 and the previous turning stored in the target rudder angle storage unit 24.
- the target rudder angle ⁇ prev at the time of command it is determined whether the target rudder angle has changed in the direction to add or remove the rudder, or whether the rudder has changed in the direction to turn back.
- the rudder angle keep command unit 28 determines that the target rudder angle has changed in the direction to turn the rudder back, the rudder angle keep command unit 28 outputs a steering prohibition command to the steering trigger output unit 25.
- the turning trigger output unit 25 is configured not to output a turning trigger while receiving a turning prohibition command.
- the rudder angle keep command unit 28 determines that the target rudder angle has changed in the direction of adding to the rudder, the rudder angle keep command unit 28 does not output a steering prohibition command to the steering trigger output unit 25 (that is, The rudder angle keep command unit 28 permits the output of a steering trigger in the direction of adding and rubbing the rudder). Thereby, even if the ship is in a straight traveling state, the steering in the direction in which the rudder is added can be performed as usual (FIG. 3B).
- the rudder is somewhat distant from the rudder angle center (the rudder has a certain angle with respect to the rudder angle center). Even so, there is little risk that the rudder will be turned to the opposite side after passing through the center of the rudder angle. That is, if the hull 1 is turning, there is little possibility that unnecessary rudder will occur. Also if, when it switched back to rudder too cut during turning is prohibited, the hull 1 is for turning speed continues to pivot in a state where too off steering becomes too fast, the overshoot amount is large . Therefore, in the present embodiment, while the hull 1 is turning, it is configured to permit the output of the steering trigger in the direction of turning back the rudder.
- the traveling state determination unit 27 is configured to stop outputting the steering angle keep determination request to the steering angle keep command unit 28 when it is determined that the hull 1 is in a turning state. As a result, the steering prohibition command is not output from the rudder angle keep command unit 28 (that is, the output of the steering trigger in the direction of turning back the rudder is permitted).
- the prohibition of the steering trigger in the direction of turning back the rudder is released, and the turning back of the rudder is permitted.
- the rudder that has been cut too much can be controlled so as to switch back, so that the rudder can be appropriately controlled so that overshoot does not occur.
- the rudder angle keep command unit 28 is configured to determine whether or not the latest target rudder angle ⁇ new and the target rudder angle ⁇ prev at the time of the front rotating rudder are on the same side across the rudder angle center. . Then, the rudder angle keep command unit 28 has the latest target rudder angle ⁇ new on the side opposite to the target rudder angle ⁇ prev at the time of the front rotating rudder (the target rudder angle has been changed so as to turn the rudder to the reverse side) ), The steering prohibition command is not output to the steering trigger output unit 25. According to this, even if the hull 1 is in a straight traveling state, the rudder can be turned in the reverse direction (FIG. 3C).
- the conventional automatic steering apparatus 101 including the rudder angle sensor 4 can confirm whether or not the rudder angle has reached a desired angle with the rudder angle sensor. Don't be.
- the automatic steering device 5 of the present embodiment is configured to drive the steering 2 in a pulse manner for a short time for each steering trigger.
- the rudder may not move just by driving the rudder 2 for a short time. In such a case, the rudder will not move no matter how many times the steering trigger is output, and the expected control cannot be realized.
- the automatic steering system of the present embodiment does not include a rudder angle sensor, there is no means for directly confirming whether or not the rudder has actually moved.
- the automatic steering device 5 of the present embodiment includes a turning confirmation unit 29 and a steering drive time temporary adjustment unit 30.
- the steering confirmation unit 29 is configured to determine whether or not the rudder has moved based on a change in the speed of the heading ⁇ output from the direction sensor 3. That is, when the rudder angle is kept constant, the hull 1 turns at a constant turning speed, and the heading ⁇ detected by the direction sensor 3 changes at a constant speed (FIG. 4A). ). The speed at which the heading ⁇ changes is called the turning angular speed. When the rudder angle changes during the turn, the turning angular velocity also changes (FIG. 4B). Therefore, it can be determined whether or not the rudder has actually moved and turned by looking at the change in the turning angular velocity.
- the turning confirmation unit 29 detects whether or not the turning angular velocity has changed more than a predetermined threshold value within a predetermined time from the turning trigger. It is configured. If the change in the turning angular velocity is greater than or equal to a predetermined threshold, the turning confirmation unit 29 determines that the rudder moves as expected and the steering is performed normally. On the other hand, when the change in the turning angular velocity is less than the predetermined threshold value, the turning confirmation unit 29 determines that the rudder is not moving as expected and the turning is not performed.
- the steering drive time temporary adjustment unit 30 is configured to adjust the steering drive time based on the determination result of the steering confirmation unit 29. That is, if it is determined that the rudder is not moving, the current rudder drive time is too short to move the rudder. Therefore, when it is determined that the rudder is not moving, the rudder drive time temporary adjustment unit 30 sets the rudder drive processing unit 26 to increase the rudder drive time. If a steering trigger is received thereafter, the steering drive processing unit 26 outputs a steering command so as to drive the steering during the newly set steering driving time. On the other hand, if it is determined that the rudder is moving as expected, the rudder drive time temporary adjustment unit 30 does not have to do anything.
- the steering drive time temporary adjustment unit 30 gives the steering drive time to the steering drive processing unit 26 when a predetermined condition such as a certain time elapses after the steering drive time is increased is satisfied. Set to restore. According to this, it is possible to prevent the rudder driving time from becoming unrestricted.
- the movement of the rudder is slightly different between the case of turning to the right and the case of turning to the left due to individual differences in the rudder drive mechanism (hydraulic cylinder, etc.) for driving the rudder. There may be. Even in such a case, the conventional automatic steering apparatus 101 including the rudder angle sensor 4 can confirm whether or not the rudder angle has reached a desired angle with the rudder angle sensor. Don't be.
- the automatic steering device 5 of the present embodiment does not include a rudder angle sensor, the angle at which the rudder moves to the left and right cannot be directly confirmed. For this reason, even if the movement of the rudder differs between the case of turning to the right and the case of turning to the left due to individual differences of the rudder drive mechanism (hydraulic cylinder etc.) for driving the rudder, the automatic steering device 5 cannot detect it. As a result, the ease of turning of the hull 1 is biased from side to side, and the course may not be appropriately controlled.
- the automatic steering device 5 of the present embodiment includes a left / right balance detection unit 31 and a left / right balance adjustment unit 32.
- the left / right balance detection unit 31 is configured to detect a deviation in the left / right turning amount based on the average value of the heading ⁇ and the target course ⁇ 0 . That is, since the hull 1 swings (yaws) under the influence of waves and winds, the heading ⁇ always changes as shown in FIG. If the steering 2 is normally controlled by the automatic steering device 5 of the present embodiment, the average value of the heading ⁇ for a plurality of yawing times should match the target course ⁇ 0 .
- the average value of the bow direction ⁇ per a plurality of yawings will be referred to as the bow direction center ⁇ ave .
- a steady deviation (steady deviation angle) is present between the bow heading center ⁇ ave and the target course ⁇ 0.
- the bow heading center ⁇ ave is shifted to the right from the target course ⁇ 0 as shown in FIG. .
- a deviation (steady deviation angle) between the heading center ⁇ ave and the target course ⁇ 0 it is possible to detect the deviation of the left and right steering amounts.
- the left / right balance detection unit 31 obtains an average value (bow heading center ⁇ ave ) of the bow heading ⁇ for a plurality of yawings (head wobbles ), and a deviation (steady deflection angle) between the bow heading center ⁇ ave and the target course ⁇ 0. ) Based on the left and right steering amounts. That is, when the steady declination is within a predetermined range centered on zero, the left / right balance detection unit 31 determines that the left and right steering amounts are equal.
- the left / right balance detection unit 31 has a right turning amount larger than a left turning amount. Judge. Similarly, when the bow heading center ⁇ ave is shifted to the left beyond the predetermined range from the target course ⁇ 0 , the left / right balance detection unit 31 determines that the left turning amount is larger than the right turning amount. Judge that it is big.
- the left / right balance adjustment unit 32 adjusts the steering drive time for turning right and the steering drive time for turning left based on the determination result of the left / right balance detection unit 31. It is configured. That is, when it is determined that the rightward turning amount is larger than the leftward turning amount, the left / right balance adjusting unit 32 turns the rudder to the right with respect to the steering drive processing unit 26. A setting is made to shorten the steering drive time or to increase the steering drive time when turning to the left. Similarly, when it is determined that the leftward steering amount is larger than the rightward steering amount, the left / right balance adjustment unit 32 steers the steering to the left with respect to the steering drive processing unit 26. It is set to shorten the machine drive time or to increase the steering drive time when turning to the right. On the other hand, when it is determined that the left and right turning amounts are equal, the left / right balance adjustment unit 32 does not have to do anything.
- the left-right balance adjustment part 32 is comprised so that the adjustment which increases steering drive time and the adjustment which decreases may be performed alternately. For example, when the left / right balance adjustment unit 32 performs adjustment so as to increase the steering drive time when turning to the right, next, the steering drive time when turning to the left is shortened. Adjust as follows. In this way, by adjusting the steering drive time so as to alternately increase and decrease, it is possible to prevent the steering drive time from becoming unlimited (or shortening to unlimited) by repeating the adjustment.
- the automatic steering device 5 of this embodiment includes the target rudder angle calculation unit 20, the target rudder angle storage unit 24, and the steering command unit 23.
- the target rudder angle calculation unit 20 calculates the target rudder angle of the steering 2 based on the heading ⁇ and the target course ⁇ 0 .
- the target rudder angle storage unit 24 stores the target rudder angle ⁇ prev at the previous steering command.
- the steering command unit 23 includes the latest target steering angle ⁇ new calculated by the target steering angle calculation unit 20, the target steering angle ⁇ prev at the previous steering command stored in the target steering angle storage unit 24, and Based on the above, a steering command for instructing the steering 2 to output a steering is output.
- the set course ⁇ S is set (step S101).
- the set course ⁇ S may be manually set by the user or automatically set by a navigation device or the like.
- the target course calculation unit 10 calculates the target course ⁇ 0 (step S102).
- the heading ⁇ is detected by the direction sensor 3 (step S103).
- the target rudder angle calculation unit 20 calculates the latest target rudder angle ⁇ new based on the detected heading ⁇ and the target course ⁇ 0 (step S104, target rudder angle calculation step).
- step S105 the steering command unit 23 reads the target steering angle ⁇ prev at the previous steering command from the target steering angle storage unit 24 (previous target steering angle acquisition step). Then, the steering command unit 23 issues a steering command to the steering 2 based on the latest target steering angle ⁇ new and the target steering angle ⁇ prev at the previous steering command (step S106). To S110, steering command process).
- the steering trigger output unit 25 determines whether or not to output a steering trigger according to the target steering angle change amount ⁇ chg (step S106).
- the steering trigger output unit 25 outputs a steering trigger when the target steering angle change amount ⁇ chg is equal to or larger than the steering threshold (step S108, a steering trigger output step).
- the steering trigger output unit 25 does not output a steering trigger in a direction to switch back the rudder.
- the process returns to step S102 without outputting the steering trigger.
- the steering drive processing unit 26 When the steering trigger is output, the steering drive processing unit 26 outputs a steering command to the steering 2 during a predetermined steering drive time (step S109, a steering drive processing step).
- the target rudder angle storage unit 24 updates the value of the target rudder angle stored therein with the latest target rudder angle ⁇ new (step S110, target rudder angle). Memory step).
- step S111 the steering driving time is adjusted by the steering driving time temporary adjustment unit 30 and the left / right balance adjustment unit 32 (step S111). And it returns to step S102 and said process is repeated.
- the automatic steering method of the present embodiment includes a target rudder angle calculation step, a previous target rudder angle acquisition step, and a steering command step.
- the target rudder angle calculation step step S104
- the target rudder angle of the rudder 2 is calculated based on the heading ⁇ and the target course ⁇ 0 .
- the previous target rudder angle acquisition step step S105
- the target rudder angle ⁇ prev at the time of the front rotating rudder is acquired.
- indicates steering to the steering 2 is output based on.
- the storage content of the target steering angle storage unit 24 is updated to the latest target steering angle ⁇ new .
- the steering trigger is not input to the target rudder angle storage unit 24 while the steering trigger is prohibited by the rudder angle keep command unit 28, so the stored content of the target rudder angle storage unit 24 is It is not updated (FIG. 7 (a)).
- the target rudder angle calculated by the target rudder angle calculation unit 20 is changed in a direction in which the rudder is added in order to eliminate the course deviation angle ⁇ (FIG. 7B). Therefore, when the course deviation angle ⁇ becomes large due to such an unexpected cause, it is preferable to change the steering angle in the direction in which the rudder is added to eliminate the course deviation angle ⁇ at an early stage.
- an error may occur in the rudder angle keep command unit 28 in determining the direction in which the target rudder angle has changed. For example, as shown in FIG. 7B, when it is erroneously determined that the target rudder angle has been changed in the direction to turn back the rudder, even though the target rudder angle has been changed in the direction to add to the rudder. There is. The cause of this erroneous determination is that the stored content of the target rudder angle storage unit 24 has not been updated (the stored content is old). If such an erroneous determination occurs, an appropriate steering command cannot be output to the steering 2, and thus the course deviation angle ⁇ cannot be eliminated early.
- the automatic steering apparatus 50 of the present modification includes an update trigger output unit 33 as shown in FIG.
- the update trigger output unit 33 is configured to output an update trigger to the target steering angle storage unit 24 when the steering trigger is prohibited by the steering angle keep command unit 28.
- the target rudder angle storage unit 24 updates its stored content with the latest target rudder angle ⁇ new output by the target rudder angle calculation unit 20. According to this, even if the steering trigger is prohibited, the stored content of the target rudder angle storage unit 24 can be updated.
- the stored content of the target rudder angle storage unit 24 can be constantly updated. Therefore, in the rudder angle keep command unit 28, the direction in which the target rudder angle has changed (in the direction in which the rudder is added). Whether it has changed or changed in the direction of turning back the rudder) can be accurately determined. Thereby, when the target rudder angle changes in the direction of adding to the rudder, the rudder angle keep command unit 28 can cancel the rudder prohibition command and output the steered command. Therefore, even when the course deviation angle ⁇ becomes larger by causing unexpected in straight hull 1, to overcome early the course deviation angle ⁇ by changing the steering angle in the direction of plus cut rudder Can do.
- the automatic steering device of the present invention is not limited to the control of the ship's rudder, and may be used to control the rudder of another moving body such as an airplane.
- the steering command is output only during the steering driving time in response to the steering trigger.
- the configuration is not necessarily limited thereto.
- the greatest feature of the present invention resides in that automatic steering control is performed based on the latest target rudder angle and the target rudder angle at the time of forward rotation rudder. Therefore, how to output the steering command (a configuration in which the steering command is output only for the steering driving time according to the steering trigger) can be omitted or changed as appropriate.
- the automatic steering device 5 can be configured as a computer equipped with hardware such as a CPU, a ROM, and a RAM.
- the hardware and software (a program for controlling the automatic steering device) cooperate with each other so that each function of the automatic steering device 5 (the function of the target course calculation unit 10 and the function of the target rudder angle calculation unit 20).
- the function of the steering command unit 23 is realized.
- the automatic steering device 5 is not limited to a general-purpose computer, and each function of the automatic steering device 5 may be realized by dedicated hardware.
- the traveling state determination unit 27 determines the traveling state of the hull 1 based on the difference between the set course ⁇ S and the target course ⁇ 0 .
- the traveling state determination unit 27 may determine the traveling state of the ship based on the course deviation angle ⁇ . That is, when the absolute value of the course deviation angle ⁇ is smaller than the predetermined determination threshold value, since it is that heading theta is somewhat consistent with the target course theta 0, the hull 1 can be determined as close to the straight traveling state.
- the absolute value of the course deviation angle ⁇ is equal to or greater than the determination threshold, there is a deviation between the heading ⁇ and the target course ⁇ 0 , and the hull 1 is turning to eliminate the deviation. Can be determined.
Abstract
Description
Claims (12)
- 移動体の機首方位と目標針路に基づいて、舵機の目標舵角を算出する目標舵角算出部と、
前回の転舵指令時の目標舵角を記憶する目標舵角記憶部と、
前記目標舵角算出部が算出した最新の目標舵角と、前記目標舵角記憶部が記憶している前回の転舵指令時の目標舵角と、に基づいて、舵機に転舵を指示するための転舵指令を出力する転舵指令部と、
を備えることを特徴とする自動操舵装置。 - 請求項1に記載の自動操舵装置であって、
前記転舵指令部は、最新の目標舵角と、前回の転舵指令時の目標舵角と、の差分である目標舵角変化量が所定の転舵閾値未満の場合は前記転舵指令を出力しないことを特徴とする自動操舵装置。 - 請求項2に記載の自動操舵装置であって、
前記転舵指令部は、
前記目標舵角変化量が前記転舵閾値以上の場合に転舵トリガを出力する転舵トリガ出力部と、
前記転舵トリガに応じて、前記舵機を所定の舵機駆動時間のあいだ駆動させるように前記転舵指令を出力する舵機駆動処理部と、
を有することを特徴とする自動操舵装置。 - 請求項3に記載の自動操舵装置であって、
前記目標舵角記憶部は、前記転舵トリガに応じて、記憶内容を最新の目標舵角に更新することを特徴とする自動操舵装置。 - 請求項3又は4に記載の自動操舵装置であって、
舵を切り戻す方向の転舵トリガが出力されることを禁止する舵角キープ指令部を備えることを特徴とする自動操舵装置。 - 請求項5に記載の自動操舵装置であって
前記舵角キープ指令部によって舵を切り戻す方向の転舵トリガが禁止されている場合に、更新トリガを出力する更新トリガ出力部を備え、
前記目標舵角記憶部は、前記更新トリガに応じて、記憶内容を最新の目標舵角に更新することを特徴とする自動操舵装置。 - 請求項5又は6に記載の自動操舵装置であって、
前記移動体の走行状態が直進状態か否かを判定する走行状態判定部を備え、
前記舵角キープ指令部は、前記移動体が直進状態の場合に、舵を切り戻す方向の転舵トリガが出力されることを禁止することを特徴とする自動操舵装置。 - 請求項3から7までの何れか一項に記載の自動操舵装置であって、
前記移動体の機首方位の平均値と、前記目標針路と、の差分に基づいて、左右の転舵量の偏りを検出する左右バランス検出部と、
前記偏りに基づいて、舵を右に転舵する場合の舵機駆動時間と、左に転舵する場合の舵機駆動時間とをそれぞれ調整する左右バランス調整部と、
を備えることを特徴とする自動操舵装置。 - 請求項3から8までの何れか一項に記載の自動操舵装置であって、
前記移動体の回頭角速度の変化に基づいて、舵が動いたか否かを検出する転舵確認部と、
前記転舵トリガを出力したにもかかわらず舵が動いていない場合に、前記舵機駆動時間を一時的に増加させる舵機駆動時間一時調整部と、
を備えることを特徴とする自動操舵装置。 - 移動体の機首方位と目標針路に基づいて、舵機の目標舵角を算出する目標舵角算出工程と、
前回の転舵指令時の目標舵角を取得する前回目標舵角取得工程と、
前記目標舵角算出工程で算出した最新の目標舵角と、前回目標舵角取得工程で取得した前回の転舵指令時の目標舵角と、に基づいて、舵機に転舵を指示する転舵指令を出力する転舵指令工程と、
を含むことを特徴とする自動操舵方法。 - 請求項10に記載の自動操舵方法であって、
前記転舵指令工程では、最新の目標舵角と、前回の転舵指令時の目標舵角と、の差分である目標舵角変化量が所定の転舵閾値未満の場合は前記転舵指令を出力しないことを特徴とする自動操舵方法。 - 請求項11に記載の自動操舵方法であって、
前記転舵指令工程は、
前記目標舵角変化量が前記転舵閾値以上の場合に転舵トリガを出力する転舵トリガ出力工程と、
前記転舵トリガに応じて、前記舵機を所定の舵機駆動時間のあいだ駆動させるように前記転舵指令を出力する舵機駆動処理工程と、
を含むことを特徴とする自動操舵方法。
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