JP5168633B2 - 浮体と船の相対位置制御方法及び同システム - Google Patents
浮体と船の相対位置制御方法及び同システム Download PDFInfo
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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
- B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
- G05D1/0208—Control of position or course in two dimensions specially adapted to water vehicles dynamic anchoring
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Description
Claims (6)
- 円柱型もしくは多角柱型をした浮体の運動に応じて変化する安全領域の中で船を稼働させる浮体と船の相対位置制御方法であって、
船体周りの環境状況を検出するセンサからの情報と、
前記環境状況により前記船体に働く環境外力の関係を、予め数値計算によって得て、および/または予め実験によって得て蓄えたデータベースからの情報と
に基づいて、前記船体に瞬時に働く外力を評価して、
前記外力が最少になるように船首方位を最適化し、
この最適化した結果に基づいて前記浮体に対する前記船の位置および前記船首方位を制御することを特徴とする浮体と船の相対位置制御方法。 - 前記瞬時に働く外力を評価した結果に基づいてフィードフォワード制御を行って、前記浮体に対する前記船の位置および前記船首方位を制御することを特徴とする請求項1記載の浮体と船の相対位置制御方法。
- 前記環境状況として、波、風、および潮流の状況を前記センサが検出することを特徴とする請求項1あるいは2記載の浮体と船の相対位置制御方法。
- 前記船体周りの環境状況に係る情報に加えて、もしくはこれに代替させて、前記浮体の周囲の環境状況に係る情報を、前記浮体に対する前記船の位置および前記船首方位の制御に利用したことを特徴とする請求項1あるいは2記載の浮体と船の相対位置制御方法。
- 円柱型もしくは多角柱型をした浮体の運動に応じて変化する安全領域の中で船を稼働させる浮体と船の相対位置制御システムであって、
船体周りの環境状況を検出するセンサと、
前記環境状況により前記船体に働く環境外力の関係を、予め数値計算によって得て、および/または予め実験によって得て蓄えたデータベースと、
前記センサの検出結果と前記データベースの情報とに基づいて前記船体に瞬時に働く外力を評価する外力評価手段と、
前記外力が最少になるように船首方位を最適化する最適化手段と、
この最適化手段の出力に基づいて、前記浮体に対する前記船の位置および前記船首方位を制御するダイナミックポジショニング制御装置と
を備えたことを特徴とする浮体と船の相対位置制御システム。 - 前記ダイナミックポジショニング制御装置は、
前記船の位置および前記船首方位を制御するフィードバック制御部を有し、
このフィードバック制御部の信号に前記外力評価手段の出力をフィードフォワード制御信号として付加して、前記浮体に対する前記船の位置および前記船首方位を制御することを特徴とする請求項5記載の浮体と船の相対位置制御システム。
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111846107A (zh) * | 2020-07-08 | 2020-10-30 | 智慧航海(青岛)智能***工程有限公司 | 一种智能船舶自动锚泊优化方法 |
JP7229492B2 (ja) | 2019-04-17 | 2023-02-28 | 株式会社ジャパンディスプレイ | 検出装置 |
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US8478464B2 (en) | 2009-12-23 | 2013-07-02 | Brunswick Corporation | Systems and methods for orienting a marine vessel to enhance available thrust |
US8417399B2 (en) * | 2009-12-23 | 2013-04-09 | Brunswick Corporation | Systems and methods for orienting a marine vessel to minimize pitch or roll |
JP5296737B2 (ja) * | 2010-03-31 | 2013-09-25 | 三井造船株式会社 | 入射波の波高及び波向き推定方法、自動位置保持制御方法、自動位置保持システム及び船舶と洋上構造物 |
KR101390367B1 (ko) * | 2011-06-08 | 2014-04-30 | 삼성중공업 주식회사 | 해상작업용 선박 및 그 선박의 자세제어 방법 |
KR101375269B1 (ko) | 2012-04-27 | 2014-03-17 | 삼성중공업 주식회사 | 오일 처리 선박에 대한 계류 선박의 상대 위치 조정 장치 |
KR101419822B1 (ko) * | 2012-09-27 | 2014-07-16 | 대우조선해양 주식회사 | Dps를 시뮬레이션하는 시뮬레이션 시스템 |
US8924054B1 (en) | 2013-03-14 | 2014-12-30 | Brunswick Corporation | Systems and methods for positioning a marine vessel |
US10640190B1 (en) | 2016-03-01 | 2020-05-05 | Brunswick Corporation | System and method for controlling course of a marine vessel |
US10198005B2 (en) | 2016-03-01 | 2019-02-05 | Brunswick Corporation | Station keeping and waypoint tracking methods |
US10322787B2 (en) | 2016-03-01 | 2019-06-18 | Brunswick Corporation | Marine vessel station keeping systems and methods |
US10259555B2 (en) | 2016-08-25 | 2019-04-16 | Brunswick Corporation | Methods for controlling movement of a marine vessel near an object |
US10671073B2 (en) | 2017-02-15 | 2020-06-02 | Brunswick Corporation | Station keeping system and method |
US10429845B2 (en) | 2017-11-20 | 2019-10-01 | Brunswick Corporation | System and method for controlling a position of a marine vessel near an object |
US10324468B2 (en) | 2017-11-20 | 2019-06-18 | Brunswick Corporation | System and method for controlling a position of a marine vessel near an object |
US10845812B2 (en) | 2018-05-22 | 2020-11-24 | Brunswick Corporation | Methods for controlling movement of a marine vessel near an object |
US10633072B1 (en) | 2018-07-05 | 2020-04-28 | Brunswick Corporation | Methods for positioning marine vessels |
US11530022B1 (en) | 2018-07-10 | 2022-12-20 | Brunswick Corporation | Method for controlling heading of a marine vessel |
US11198494B2 (en) | 2018-11-01 | 2021-12-14 | Brunswick Corporation | Methods and systems for controlling propulsion of a marine vessel to enhance proximity sensing in a marine environment |
US10926855B2 (en) | 2018-11-01 | 2021-02-23 | Brunswick Corporation | Methods and systems for controlling low-speed propulsion of a marine vessel |
CN109436225A (zh) * | 2018-12-03 | 2019-03-08 | 深圳市杉叶实业有限公司 | 保持船首方位以及浮体和船之间相对位置的方法及装置 |
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JP4633919B2 (ja) * | 2000-12-08 | 2011-02-16 | 三菱重工業株式会社 | 二浮体相対位置保持装置 |
JP4395269B2 (ja) * | 2001-04-27 | 2010-01-06 | 三菱重工業株式会社 | 相対的浮体運動システム、2浮体間運動制御回路及びシミュレータ |
JP4709975B2 (ja) * | 2005-04-15 | 2011-06-29 | 三井造船株式会社 | 自動船位保持制御方法及び自動船位保持制御装置 |
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JP7229492B2 (ja) | 2019-04-17 | 2023-02-28 | 株式会社ジャパンディスプレイ | 検出装置 |
CN111846107A (zh) * | 2020-07-08 | 2020-10-30 | 智慧航海(青岛)智能***工程有限公司 | 一种智能船舶自动锚泊优化方法 |
CN111846107B (zh) * | 2020-07-08 | 2021-10-29 | 智慧航海(青岛)智能***工程有限公司 | 一种智能船舶自动锚泊优化方法 |
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