JP3026059B2 - Ship attitude control device - Google Patents
Ship attitude control deviceInfo
- Publication number
- JP3026059B2 JP3026059B2 JP7024339A JP2433995A JP3026059B2 JP 3026059 B2 JP3026059 B2 JP 3026059B2 JP 7024339 A JP7024339 A JP 7024339A JP 2433995 A JP2433995 A JP 2433995A JP 3026059 B2 JP3026059 B2 JP 3026059B2
- Authority
- JP
- Japan
- Prior art keywords
- wind
- thrust
- wind direction
- unit
- azimuth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000001914 filtration Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000007935 neutral effect Effects 0.000 description 3
- 230000003340 mental effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 206010029216 Nervousness Diseases 0.000 description 1
- 201000009813 cataract 31 multiple types Diseases 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、洋上における海洋観測
や水産資源調査など、洋上における各種の観測や調査を
行うに際し、風向に対する船首方位を一定に保持するた
めの船舶の対風姿勢保持装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for maintaining a ship's attitude against a wind for maintaining a constant heading with respect to the wind direction when performing various observations and surveys on the sea, such as oceanographic observations and marine resource surveys on the sea. About.
【０００２】[0002]
【従来の技術】例えば、調査船から観測機器を海中に吊
り下げたまま海洋観測を行うと、風の影響により調査船
と観測機器の相対的な位置関係が不規則に変化し、機器
を吊り下げているワイヤーが船体に接触したり、プロペ
ラ軸に絡まることがある。そこで、従来は、風向計から
出力する相対風向値、或いは、絶対風向値を見ながら操
船者が舵とバウスラスタとスタンスラスタと推進プロペ
ラの操作レバーを個別に操作して風向に対する船首方位
が一定になるように操船していた。2. Description of the Related Art For example, if ocean observation is performed while an observation device is suspended from the research ship under the sea, the relative positional relationship between the research ship and the observation device changes irregularly due to wind, and the device is suspended. The lowering wire may come into contact with the hull or get tangled with the propeller shaft. Therefore, conventionally, the ship operator operates the rudder, bow thruster, stance thruster, and the propeller propeller individually while observing the relative wind direction value output from the anemometer or the absolute wind direction value, and the heading with respect to the wind direction is kept constant. I was maneuvering to be.
【０００３】[0003]
【発明が解決しようとする課題】ところが、海洋観測
は、一般に、長時間にわたるため、その間、舵とバウス
ラスタと推進プロペラの操作レバーを個別に操作し続け
ることは、精神的、肉体的な負担が非常に大きくなり、
例えば、他船の動向などを監視する船首方位保持力以外
の注意力が低下する恐れがあった。However, since ocean observation is generally performed over a long period of time, it is mental and physical burden to keep operating the rudder, bow thruster and propulsion propeller individually during that time. Very large,
For example, there is a possibility that attention other than the heading holding force for monitoring the movement of another ship may be reduced.
【０００４】本発明は、このような問題を解消するため
になされたものであり、その目的とするところは、洋上
における各種の観測や調査を行うに際し、風向に対する
船首方位が一定になるように船体の回頭の自動的に制御
するようにした船舶の対風姿勢保持装置を提供すること
にある。The present invention has been made to solve such a problem, and an object of the present invention is to make a heading direction with respect to a wind direction constant when performing various observations and surveys on the sea. An object of the present invention is to provide a ship's anti-wind attitude maintaining device that automatically controls the turning of the hull.
【０００５】[0005]
【課題を解決するための手段】 即ち、本発明に係る船
舶の対風姿勢保持装置は、回頭モーメントを発生できる
推力発生装置を備えた船舶において、相対又は絶対風向
を検出する風向計と、船首方位を検出する方位角検出器
と、船体の回頭角速度を検出する方位角速度検出器と、
対風姿勢保持ボタンと、対風姿勢保持ボタンを押した時
の相対風向角αを保持するために必要な回頭推力を演算
して推力発生装置の推力を制御する制御演算装置とを備
え、該制御演算装置を、 ａ）風速がある値以下になった場合、処理を行なわない
データチェック部と、 ｂ）データチェック部がチェックしたデータをフィルタ
リングするフィルタリング部と、 ｃ）対風姿勢保持ボタンを押した時の船首方位に対する
風向を設定値とし、その時の相対風向角αと船首方位に
対する風向が変化した時の相対風向角α’との偏差を計
算する方位偏差演算部と、 ｄ）方位偏差演算部が計算した偏差を零にするのに必要
な制御力を計算するＰ．Ｉ．Ｄ制御力演算部と、 ｅ）Ｐ．Ｉ．Ｄ制御力演算部が計算した制御力を基にス
ラスタと舵とＣＰＰの必要推力配分を求める必要推力演
算部と、 ｆ）スラスタと舵とＣＰＰに過負荷が加わるのを防ぐた
めに推力変動軽減処理を行なう推力変動軽減部とから構
成している。 That is, a ship's anti-wind attitude maintaining device according to the present invention is a ship provided with a thrust generating device capable of generating a turning moment, a wind vane detecting relative or absolute wind direction, and a bow. An azimuth angle detector for detecting an azimuth, an azimuth speed detector for detecting a turning angular velocity of the hull,
Bei pair wind posture holding button, and a control arithmetic unit for controlling the thrust of the operation to thrust generator turning round thrust required to hold the relative wind direction angle α when pressing versus wind posture holding button
The control arithmetic unit may be configured such that: a) When the wind speed falls below a certain value, no processing is performed.
A data check unit, and b) a filter for the data checked by the data check unit.
A filtering section for ringing; c) a heading when the wind attitude holding button is pressed.
Using the wind direction as the set value, the relative wind direction angle α and the heading
The deviation from the relative wind direction angle α 'when the wind direction changes
Azimuth deviation calculation unit to calculate, d) necessary to make the deviation calculated by the azimuth deviation calculation unit zero
P. Calculate the optimal control force I. D) a control force calculating unit ; I. D Based on the control force calculated by the control force calculation unit,
Necessary thrust performance to find the required thrust distribution of raster, rudder and CPP
A calculation unit, f) were prevented from overloading the thruster and rudder and CPP is applied
And a thrust fluctuation reduction unit that performs thrust fluctuation reduction processing.
Has formed.
【０００６】[0006]
【作用】操船者が遠隔操作箱の対風姿勢保持ボタンを押
すと、制御装置が前記ボタンを押した時の相対風向角α
を保持ために必要な回頭推力を演算して回頭モーメント
発生用推力発生装置の翼角を制御する。When the operator presses the wind control button of the remote control box, the relative wind direction angle α when the control device presses the button.
Is calculated by calculating a turning thrust necessary to maintain the turning angle.
【０００７】[0007]
【実施例】以下、図面により本発明の実施例を説明す
る。図１は、本発明に係る船舶の対風姿勢保持装置の構
成図であり、図示しない船体は、減速機１を備えた主機
２により駆動される推進プロペラ（１軸ＣＰＰ）３と、
バウスラスタ４と、スタンスラスタ５と、舵６と、風速
検出器７と、風向検出器８と、船速（前後左右）を検出
する船速検出器９と、船体の回頭角速度を検出する方位
角速度検出器１０と、船首方位を検出する方位角検出器
１１と、制御演算装置１２を備えている。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a configuration diagram of a wind attitude maintaining device for a ship according to the present invention. A hull (not shown) includes a propulsion propeller (one-axis CPP) 3 driven by a main engine 2 having a speed reducer 1,
Bow thruster 4, stance thruster 5, rudder 6, wind speed detector 7, wind direction detector 8, ship speed detector 9 for detecting ship speed (front, rear, left and right), and azimuth angular speed for detecting the turning angular speed of the hull The system includes a detector 10, an azimuth angle detector 11 for detecting a heading direction, and a control arithmetic unit 12.
【０００８】この制御演算装置１２に接続させた可搬式
遠隔操作箱１３は、ジョイスティックレバー１４と、回
頭ダイヤル１５と、システム操船ボタン１６と、対水速
度保持ボタン１７と、対風姿勢保持ボタン１８とを有し
ている。そして、船体の移動方向は、ジョイスティック
レバー１４の傾倒方向で与えられ、移動速度は、ジョイ
スティックレバー１４の傾斜角に比例して与えられるよ
うになっている。The portable remote control box 13 connected to the control arithmetic unit 12 includes a joystick lever 14, a turning dial 15, a system navigation button 16, a water speed holding button 17, and a wind attitude holding button 18. And The moving direction of the hull is given by the tilt direction of the joystick lever 14, and the moving speed is given in proportion to the tilt angle of the joystick lever 14.
【０００９】また、ジョイスティックレバー１４を中立
にしたまま回頭ダイヤル１５を操作することによって設
定された回頭角速度を保持しながら、その場回頭を行う
ようになっている。また、回頭ダイヤル１５の回動方向
は、船体の回頭方向に相当し、回頭ダイヤル１５の回動
の大きさは、船体の回頭角速度に比例するようになって
いる。In addition, while turning the turning dial 15 while keeping the joystick lever 14 in the neutral position, the turning is performed on the spot while maintaining the turning angular speed set. The turning direction of the turning dial 15 corresponds to the turning direction of the hull, and the magnitude of the turning of the turning dial 15 is proportional to the turning angular velocity of the hull.
【００１０】一方、制御演算装置１２は、図２に示すよ
うに、構成されている。すなわち、制御演算装置１２
は、 ａ）微風で、なおかつ、風向が頻繁に変化した場合を考
慮し、風速がある値以下になった場合は、処理を行わな
いようにしたデータチェック部１２１と、 ｂ）データチェック部１２１がチェックしたデータをフ
ィルタリングするフィルタリング部１２２と、 ｃ）対風姿勢保持ボタン１８を押した時の船首方位に対
する風向を設定値とし、対風姿勢保持ボタンを押した時
の相対風向角αと、船首方位に対する風向が変化した時
の相対風向角α′との偏差を計算する方位偏差演算部１
２６と、 ｄ）方位偏差演算部１２６が計算した偏差を零にするの
に必要な制御力を計算するＰ．Ｉ．Ｄ制御力演算部１２
３と、 ｅ）Ｐ．Ｉ．Ｄ制御力演算部１２３の計算した制御力を
基にバウスラスタ４とスタンスラスタ５と舵６と１軸Ｃ
ＰＰ３の必要推力配分を求める必要推力演算部１２４
と、 ｆ）上記のバウスラスタ４とスタンスラスタ５と舵６と
１軸ＣＰＰ３に過負荷が加わるのを防ぐために推力変動
軽減処理を行う推力変動軽減部１２５とから構成されて
いる。On the other hand, the control arithmetic unit 12 is configured as shown in FIG. That is, the control arithmetic unit 12
A) a data check unit 121 that does not perform processing when the wind speed falls below a certain value in consideration of a case where the wind direction changes frequently due to a breeze, and b) a data check unit 121 A) a filtering unit 122 for filtering the checked data; c) a wind direction with respect to the heading when the anti-wind attitude holding button 18 is pressed as a set value; a relative wind direction angle α when the anti-wind attitude holding button is pressed; Heading deviation calculator 1 for calculating a deviation from the relative wind direction angle α 'when the wind direction changes with respect to the heading
26, and d) calculating the control force required to make the deviation calculated by the azimuth deviation calculating unit 126 zero. I. D control force calculation unit 12
E. I. The bow thruster 4, the stance thruster 5, the rudder 6, and the one-axis C
Necessary thrust calculation section 124 for determining the required thrust distribution of PP3
And f) a thrust fluctuation reducing unit 125 for performing a thrust fluctuation reducing process to prevent an overload from being applied to the bow thruster 4, the stance thruster 5, the rudder 6, and the one-axis CPP3.
【００１１】次に、上記の対風姿勢保持装置の作用につ
いて説明する。対風姿勢保持装置をスタートさせると、
図３及び図４に示すように、風速検出器７、風向検出器
８、船速検出器９、方位角速度検出器１０及び方位角検
出器１１から風速、風向、船速、方位角速度、方位角
が、それぞれ、制御演算装置１２に入力する（ｎ１）。Next, the operation of the above-described wind attitude holding device will be described. When the anti-wind attitude holding device is started,
As shown in FIGS. 3 and 4, wind speed, wind direction, ship speed, azimuth speed, azimuth angle are obtained from the wind speed detector 7, the wind direction detector 8, the ship speed detector 9, the azimuth speed detector 10 and the azimuth angle detector 11. Are input to the control operation device 12 (n1).
【００１２】そして、操船者が、図５に示す対風姿勢保
持ボタン１８を押すと、制御演算装置１２に対風姿勢保
持モードが入力される（ｎ２）。この対風姿勢保持モー
ドは、操舵者がジョイスティックレバー１４を中立位置
に保持すると共に（ｎ５）、回頭ダイヤル１５を中立位
置に保持したときに（ｎ６）、初めて有効となる（ｎ
７，ｎ８）。When the operator presses the wind attitude holding button 18 shown in FIG. 5, the wind attitude holding mode is input to the control arithmetic unit 12 (n2). This wind attitude holding mode is effective only when the operator holds the joystick lever 14 at the neutral position (n5) and holds the turning dial 15 at the neutral position (n6) (n6).
7, n8).
【００１３】図６に示すように、対風姿勢保持ボタン１
８を押した時、風向が西風（Ｗ）であり、船体２０の船
首が真北（Ｎ）を向いていたとする。その後、船首方位
Ｎに対する風向が北北西の風（ＮＮＷ）に変化した時、
方位偏差演算部１２６は、対風姿勢保持ボタン１８を押
した時の相対風向角αと、船首方位（Ｎ）に対する風向
が変化した時（風向ＮＮＷ）の相対風向角α′との偏差
（α−α′）を算出する。次に、この偏差（α−α′）
を零（０）にするのに必要な制御力をＰ．Ｉ．Ｄ制御力
演算部１２３が計算し（ｎ９）、更に、必要推力演算部
１２４がバウスラスタ４、スタンスラスタ５、舵６及び
１軸ＣＰＰ３に指示するための必要推力配分を求める
（ｎ１０）。[0013] As shown in FIG.
When 8 is pressed, the wind direction is the west wind (W) and the bow of the hull 20 is pointing to true north (N). Later, when the wind direction for heading N changed to north-northwest wind (NNW),
The azimuth deviation calculating unit 126 calculates the deviation (α) between the relative wind direction angle α when the anti-wind attitude holding button 18 is pressed and the relative wind direction angle α ′ when the wind direction with respect to the heading (N) changes (wind direction NNW). −α ′) is calculated. Next, this deviation (α−α ′)
Is the control force required to make the value zero (0). I. The D control force calculation unit 123 calculates (n9), and further, the necessary thrust calculation unit 124 obtains a necessary thrust distribution for instructing the bow thruster 4, the stance thruster 5, the rudder 6, and the one-axis CPP 3 (n10).
【００１４】更に、推力変動軽減部１２５がバウスラス
タ４およびスタンスラスタ５に過負荷がかかるのを防ぐ
ために推力変動軽減処理を行い（ｎ１１）、バウスラス
タ４の翼角を制御する（ｎ１２）。そして、バウスラス
タ４及びスタンスラスタ５により対風姿勢保持ボタン１
８を押した時の相対風向角αを保持するまで船体２０が
右回頭する（ｎ１３）。Further, the thrust fluctuation reducing section 125 performs a thrust fluctuation reducing process to prevent the bow thruster 4 and the stance thruster 5 from being overloaded (n11), and controls the blade angle of the bow thruster 4 (n12). The wind attitude holding button 1 is operated by the bow thruster 4 and the stance thruster 5.
The hull 20 turns to the right until the relative wind direction angle α when 8 is pressed is maintained (n13).
【００１５】上記の説明では、通常の舵６を用いる場合
について説明したが、例えば、シリング舵などの特殊な
舵６ａを用いる場合は、必ずしもスターンスラスタ５を
必要としない。In the above description, the case where a normal rudder 6 is used has been described. However, when a special rudder 6a such as a shilling rudder is used, for example, the stance thruster 5 is not necessarily required.
【００１６】[0016]
【発明の効果】上記のように、本発明によれば、洋上に
おける各種の観測や調査を行うに際し、風向に対する船
首方位が一定になるように船体の回頭が自動制御される
ので、操船者は、従来の操船作業から解放され、精神
的、肉体的な疲労から解放される。As described above, according to the present invention, when conducting various observations and surveys on the sea, the turning of the hull is automatically controlled so that the heading with respect to the wind direction is constant, so Relieved from conventional maneuvering work and freed from mental and physical fatigue.
【００１７】また、上記のように、操船は、制御演算装
置（コンピューター）が自動的に行ってくれるので、操
船者は、他船の動向を監視する作業に神経を重点的に傾
注することができるため、安全性の向上を計ることがで
きる。Further, as described above, since the control operation device (computer) automatically performs the maneuvering of the ship, the ship operator may concentrate his or her nervousness on the work of monitoring the movement of the other ship. Therefore, safety can be improved.
【図１】本発明に係る船舶の対風姿勢保持装置の制御系
統図である。FIG. 1 is a control system diagram of a wind attitude maintaining device for a ship according to the present invention.
【図２】本発明に係る制御装置の制御ブロック図であ
る。FIG. 2 is a control block diagram of a control device according to the present invention.
【図３】本発明の制御フローの前半部分を示す制御フロ
ー図である。FIG. 3 is a control flow chart showing the first half of the control flow of the present invention.
【図４】本発明の制御フローの後半部分を示す制御フロ
ー図である。FIG. 4 is a control flowchart showing the latter half of the control flow of the present invention.
【図５】遠隔操作箱の要部拡大平面図である。FIG. 5 is an enlarged plan view of a main part of the remote control box.
【図６】対風姿勢保持運動を示す説明図である。FIG. 6 is an explanatory diagram showing a wind posture maintaining movement.
４ 推力発生装置 ８ 風向計 １０ 方位角速度検出器 １１ 方位角検
出器 １２ 制御演算装置 １８ 対風姿勢
保持ボタン4 thrust generator 8 anemometer 10 azimuth angular velocity detector 11 azimuth angle detector 12 control arithmetic unit 18 wind attitude holding button
フロントページの続き (56)参考文献 特開 昭62−286895（ＪＰ，Ａ) 特開 昭59−96096（ＪＰ，Ａ) 特開 昭59−184098（ＪＰ，Ａ) 特開 昭59−102696（ＪＰ，Ａ) 特開 昭62−55293（ＪＰ，Ａ) 実開 昭56−4999（ＪＰ，Ｕ) 実開 昭53−27593（ＪＰ，Ｕ) 実開 昭63−196798（ＪＰ，Ｕ) (58)調査した分野(Int.Cl.7，ＤＢ名) B63H 25/00 B63H 25/04 B63H 24/42 Continuation of the front page (56) References JP-A-62-286895 (JP, A) JP-A-59-96096 (JP, A) JP-A-59-184098 (JP, A) JP-A-59-102696 (JP, A) JP-A-62-55293 (JP, A) JP-A-56-4999 (JP, U) JP-A-53-27593 (JP, U) JP-A-63-196798 (JP, U) (58) Field surveyed (Int.Cl. 7 , DB name) B63H 25/00 B63H 25/04 B63H 24/42
Claims (1)
置を備えた船舶において、相対又は絶対風向を検出する
風向計と、船首方位を検出する方位角検出器と、船体の
回頭角速度を検出する方位角速度検出器と、対風姿勢保
持ボタンと、対風姿勢保持ボタンを押した時の相対風向
角αを保持するために必要な回頭推力を演算して推力発
生装置の推力を制御する制御演算装置とを備え、該制御
演算装置を、 ａ）風速がある値以下になった場合、処理を行なわない
データチェック部と、 ｂ）データチェック部がチェックしたデータをフィルタ
リングするフィルタリング部と、 ｃ）対風姿勢保持ボタンを押した時の船首方位に対する
風向を設定値とし、その時の相対風向角αと船首方位に
対する風向が変化した時の相対風向角α’との偏差を計
算する方位偏差演算部と、 ｄ）方位偏差演算部が計算した偏差を零にするのに必要
な制御力を計算するＰ．Ｉ．Ｄ制御力演算部と、 ｅ）Ｐ．Ｉ．Ｄ制御力演算部が計算した制御力を基にス
ラスタと舵とＣＰＰの必要推力配分を求める必要推力演
算部と、 ｆ）スラスタと舵とＣＰＰに過負荷が加わるのを防ぐた
めに推力変動軽減処理を行なう推力変動軽減部とから構
成して成る 船舶の対風姿勢保持装置。1. A ship equipped with a thrust generator capable of generating a turning moment, an anemoscope for detecting a relative or absolute wind direction, an azimuth detector for detecting a heading, and an azimuth speed for detecting a turning angular velocity of a hull. detector and a pair wind posture holding button pair control arithmetic unit for controlling the thrust of the thrust generating device calculates a turning round thrust required to hold the relative wind direction angle α when pressing wind posture holding button And the control
If the wind speed falls below a certain value, the processing is not performed.
A data check unit, and b) a filter for the data checked by the data check unit.
A filtering section for ringing; c) a heading when the wind attitude holding button is pressed.
Using the wind direction as the set value, the relative wind direction angle α and the heading
The deviation from the relative wind direction angle α 'when the wind direction changes
Azimuth deviation calculation unit to calculate, d) necessary to make the deviation calculated by the azimuth deviation calculation unit zero
P. Calculate the optimal control force I. D) a control force calculating unit ; I. D Based on the control force calculated by the control force calculation unit,
Necessary thrust performance to find the required thrust distribution of raster, rudder and CPP
A calculation unit, f) were prevented from overloading the thruster and rudder and CPP is applied
And a thrust fluctuation reduction unit that performs thrust fluctuation reduction processing.
A wind attitude maintaining device for ships.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7024339A JP3026059B2 (en) | 1995-02-13 | 1995-02-13 | Ship attitude control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7024339A JP3026059B2 (en) | 1995-02-13 | 1995-02-13 | Ship attitude control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH08216991A JPH08216991A (en) | 1996-08-27 |
| JP3026059B2 true JP3026059B2 (en) | 2000-03-27 |
Family
ID=12135431
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7024339A Expired - Lifetime JP3026059B2 (en) | 1995-02-13 | 1995-02-13 | Ship attitude control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3026059B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101524153B1 (en) * | 2013-10-16 | 2015-05-29 | 삼성중공업 주식회사 | Method with active position control in ocean work times |
| CN111289304B (en) * | 2020-03-05 | 2022-04-26 | 集美大学 | Water quality sampling unmanned ship system with dynamic positioning function |
-
1995
- 1995-02-13 JP JP7024339A patent/JP3026059B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH08216991A (en) | 1996-08-27 |
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