JP3999976B2 - Maneuvering method and apparatus - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a marine vessel maneuvering method and an apparatus used for its implementation, and more particularly to a marine maneuvering method and an apparatus suitable for a type of ship having a low marine speed and easily affected by tidal currents, winds, and the like.
[0002]
[Prior art]
For example, in the field of ocean observation, manned submersibles have been used in the past, but manned submersibles can cover oxygen as a result because they require oxygen from boarding personnel. The entire system was large, with limited observation range and the need for support from the supporting mother ship.
[0003]
In recent years, means capable of wireless communication using ultrasonic waves even in water that hardly transmits radio waves have been put into practical use, and various unmanned divers with a wide observation range have been developed. In particular, as the propulsion system progresses, the observation range is becoming wider year by year, and there is an increasing expectation that it will contribute to the rapid progress of exploration of vast oceans.
[0004]
There are various types and names of such unmanned submersible machines according to their purposes and application fields. For example, there are unmanned explorers, diving research ships, deep sea rescue boats, diving robots, and the like.
[0005]
As described above, underwater communication is relatively difficult and the communication speed is much slower than in the air. Therefore, the reduction of communication data is one of the issues, but it is a so-called autonomous underwater vehicle (AUV) that operates with its own judgment only by giving minimum instruction data. ) Is under development.
[0006]
Here, the pillars of autonomous operation are attitude control and navigation control. Among these, navigation control has various purposes.
[0007]
For example, automatic navigation control (so-called “automatic maneuvering”) is to control the target ship to reach the destination at the shortest distance, and mainly performs feedback control so that the hull direction matches the target direction. "Control" is used.
[0008]
In the azimuth control, control is generally performed with a configuration as shown in the control block diagram of FIG. First, the position coordinates of the target point (target coordinates) set in advance, the direction of the hull 1 (hull direction) detected by the navigation device 2 equipped with a gyro etc., and the position of the hull 1 detected by the GPS receiver Based on the coordinates (hull coordinates), the target azimuth calculation unit 3 calculates the azimuth (ie, “target azimuth”) α of the target point with respect to the hull azimuth (see FIG. 7), and the turning motion controller 4 is calculated. PID calculation is performed on the target azimuth α in consideration of the yaw rate detected by the navigation device 2, and control instruction data (turning command) such that the target azimuth α is zero is provided in the rudder drive device and / or Or it is given to steering means, such as a bow thruster drive device, thereby changing the direction of the hull 1 of the submersible. In the above PID calculation, it is possible to use a differential value of the target orientation α instead of the yaw rate. However, since the differential value is easily affected by disturbance, it is generally detected directly. The yaw rate is used.
[0009]
[Problems to be solved by the invention]
However, in the azimuth control described above, under the influence of disturbances such as tidal currents and winds, as shown in FIG. 8, the result is that the ship travels around the shortest route to the target point. There was a problem that fuel consumption increased. This problem is particularly noticeable in autonomous unmanned submersibles that travel at low speeds.
[0010]
Specifically, as shown in FIG. 9, for example, when navigating to a target point 100 m ahead at a low speed of 1 m / s from the start point and receiving a tidal current from the side, Accordingly, the navigation route of the autonomous unmanned submersible will greatly detour. In FIG. 9, the tidal velocity is shown in increments of 0.1 m / s from 0.1 m / s to 0.9 m / s, and the control delay is ignored. Needless to say, if the tidal current is not received, the self-supporting unmanned submarine navigates a straight course from the start point to the target point.
[0011]
In order to solve such problems caused by tidal currents (same for wind), this orientation control is based on, for example, as disclosed in JP-A-56-95798, JP-A-61-247592, etc. In addition, “position control (tracking control)” that corrects the heading control value based on the deviation amount of the hull coordinates from the target route was used in combination, but such control has complicated logic, and the device There was a problem that the overall configuration was complicated.
[0012]
The present invention has been made in view of the above situation, and by controlling the ship's traveling azimuth to coincide with the target azimuth, a straight course up to the target point can be achieved even under the influence of tidal current and wind. Accordingly, it is an object of the present invention to provide a ship maneuvering method and apparatus that can be traced, and that can shorten the time to reach a target point and suppress wasteful fuel consumption.
[0013]
[Means for Solving the Problems]
The present invention can solve the above problems by a boat maneuvering method and apparatus having the following configuration.
[0014]
The ship maneuvering method according to the present invention detects a hull coordinate and a hull direction with a navigation device, calculates a target direction based on the detection result and a preset target coordinate, and matches the hull direction to the direction based on the calculation result. in maneuvering method for outputting a turn command, such as to detect the travel direction of the ship navigation system calculates a deviation between the traveling direction and the target direction of the ship, to match the hull orientation to the orientation corresponding to the deviation Such a turning command is output.
[0015]
Further, the ship maneuvering apparatus according to the present invention detects the hull coordinates and the hull direction with the navigation device, calculates the target direction based on the detection result and the preset target coordinates, and sets the hull direction to the direction based on the calculation result. In a ship maneuvering apparatus that outputs a turning command that matches the navigation commands, a navigation device that detects the traveling direction of the ship, a deviation calculating means that calculates a deviation between the traveling direction and the target direction of the ship detected by the navigation device, And a turn command output means for outputting a turn command for matching the hull direction with the direction corresponding to the deviation calculated by the deviation calculating means.
[0016]
According to the above invention, since the turning command for matching the hull direction to the direction corresponding to the deviation between the ship traveling direction and the target direction is output, the ground traveling direction and the target direction coincide with each other. Even under the influence of wind, it is possible to follow a straight course to the target point, and therefore it is possible to shorten the arrival time to the target point and suppress wasteful fuel consumption. Therefore, the present invention is suitable for an autonomous unmanned submersible that is easily affected by tidal current and wind and has low speed.
[0017]
In the above invention, when the ship speed is low, so-called conventional "azimuth control" is performed to match the hull direction with the target direction, and when the ship speed is high, the hull direction is matched with the direction corresponding to the deviation. By performing the above-described “control of the present invention” as described above, for example, the hull is moving against the tidal current and the direction of the wind. Even in a state where it is swept away by tidal currents and winds, the hull can be reliably directed to the target direction without complicated control.
[0018]
As specific hardware for realizing such control switching, when the absolute value of the deviation calculated by the deviation calculating means is equal to or less than a predetermined value, the deviation is output to the turning command output means, Mask means for outputting substantially zero when exceeding a predetermined value; integration means for integrating the deviation output by the mask means; and first addition means for canceling the target azimuth based on the integration result by the integration means; And a second addition means for adding the addition result by the first addition means and the output result by the mask means, wherein the turning command output means has a hull orientation in a direction corresponding to the addition result by the second addition means. A turning command is output so as to match.
[0019]
Since the above invention can also be realized as software, it can be easily realized by only a simple improvement of the conventional autopilot. In addition to the application to an automatic pilot device that inputs a turn command to a steering device, for example, a turn output is visually displayed on a display device, and a ship operator manually controls the display by viewing the displayed content. It is also possible to do so. Accordingly, the present invention can be applied to a small ship that does not include an automatic pilot device.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an apparatus for carrying out a ship maneuvering method according to the present invention will be described in detail with reference to the drawings, taking an example of an automatic ship steering apparatus.
[0021]
FIG. 1 is a control block diagram of the automatic pilot device according to the embodiment of the present invention. In FIG. 1, a ship according to the present embodiment includes an inertial navigation device using a gyro and the like, and a navigation device 2 such as a GPS receiver. The navigation device 2 detects the hull orientation, hull coordinates, and the like of the hull 1, and the detection result is used as feedback for autopilot.
[0022]
Information on the hull direction and hull coordinates detected by the navigation device 2 is input to the target direction calculation unit 3, and the target direction calculation unit 3 is preset with information on the hull direction and hull coordinates in the same manner as before. Based on the set target coordinates, the target orientation α is calculated, and the calculation result is given to the deviation calculation unit 6.
[0023]
The deviation calculating unit 6 subtracts the traveling direction β of the ship of the hull 1 detected by the navigation device 2 from the given target direction α, calculates the control deviation Δθ, and gives the calculation result to the turning motion controller 4. The turning motion controller 4 performs PID calculation in consideration of the yaw rate of the hull 1 detected by the navigation device 2 based on the given control deviation Δθ, and turns to the steering device 5 such as a rudder drive device or a bow thruster drive device. Outputs a command. The steering device 5 performs steering according to a given turning command, and changes the direction of the hull 1.
[0024]
In the present embodiment, the yaw rate used by the turning motion controller 4 for the PID calculation may be a differential value of the target direction α instead of the input from the navigation device 2.
[0025]
With the above configuration, as shown in FIG. 2, the deviation calculating unit 6 calculates the deviation between the target direction α and the ship's traveling direction β, that is, the control deviation Δθ. The turning operation controller 4 performs the steering operation so that the traveling direction of the ship matches the target direction.
[0026]
By such control, the hull 1 can proceed along the straight course to the target point with the bow facing in the direction of tidal current, wind, etc. as shown in FIG.
[0027]
Fig. 4 is a graph showing the relationship between the velocity of the tidal current from the side and the time required for a ship navigating at 1 m / s to reach the target point 100 m ahead under this influence. The solid line indicates the result of the present control, and the solid line indicates the result of the present control. In FIG. 4, the vertical axis represents the time required to reach a target point 100 m ahead (sec), and the horizontal axis represents the tidal velocity (m / s) from the side.
[0028]
If the ship travels at 1 m / s, it can reach the target point in 100 seconds if it can follow the straight course to the target point without the influence of tidal currents. Therefore, in the graph of FIG. 4, when the tidal velocity is relatively slow, there is almost no difference between the conventional control and the control of the present application. However, as the tidal velocity increases, the arrival time in the conventional control is For example, it takes about 500 seconds for a tidal current of 0.9m / s. On the other hand, the arrival time in the control of the present application is only about half longer, and for example, it takes only about 230 seconds for a tidal current of 0.9 m / s.
[0029]
The above control method is sufficient for a ship having a high speed relative to the speed of tidal current, wind, etc., but may not be sufficient for an autonomous unmanned submersible with a low speed. In other words, the control behavior may become unstable when the ship speed is very low and it is flowing in a direction that differs greatly from the hull direction due to the influence of tidal current, wind, etc. .
[0030]
Therefore, as shown in the control block diagram of FIG. 5, when the absolute value of the control deviation Δθ calculated by the deviation calculating unit 6 is larger than a predetermined value between the deviation calculating unit 6 and the turning motion controller 4, it is zero. It is also possible to provide a mask unit 8 that passes through only when the value is equal to or less than the predetermined value, and further provides an integration unit 71 that integrates the output result of the mask unit 8. The integration result of the integration unit 71 is given to the first addition unit 72 and added to the target direction α. The output of the mask unit 8 is further added by the second addition unit 9 to the addition result of the first addition unit.
[0031]
By configuring in this way, when the absolute value of the control deviation Δθ is large, that is, when the current is flowing in a different direction with respect to the hull direction due to the influence of tidal current, wind, etc., the mask portion Since zero is output from 8, there is no output from the mask unit 8 to the azimuth control unit 7 including the integration unit 71 and the first addition unit 72 and the second addition unit 9. Only the target direction α is given to 4 and, as a result, an operation equivalent to the conventional direction control is performed.
[0032]
On the other hand, as the ship speed rises and the influence of tidal current, wind, etc., becomes smaller with respect to the ship speed, the heading direction β of the ship approaches the target direction α by azimuth control, and the deviation is calculated accordingly. The absolute value of the control deviation Δθ output from the unit 6 decreases.
[0033]
Eventually, when the absolute value of the control deviation Δθ becomes equal to or smaller than the predetermined value, the control deviation Δθ starts to be slewed (output) from the mask unit 8 and accumulated in the integrating unit 71. In the integration unit 71, the control deviation Δθ is accumulated by, for example, a first-in first-out method according to the storage capacity, and the accumulated value (integration value) is given to the first addition unit 72. The first addition unit 72 adds the target orientation α to the integration result of the integration unit 71 and gives the result to the second addition unit 9. The output from the mask unit 8 is also directly given to the second adder unit 9. The second adder unit 9 adds the output from the first adder unit 72 to this output, which is the addition result. (Α + integrated value + Δθ) is applied to the turning motion controller 4.
[0034]
Accordingly, the value given to the turning motion controller 4 is a value obtained by further adding the addition result of the first addition unit 72 to the value passed through the mask unit 8, and as a result, the hull direction is directed to the target direction by the conventional direction control. It is possible to turn more than the intended operation, and the hull direction can be directed toward the target direction at an early stage.
[0035]
Subsequently, when the hull direction begins to approach the target direction, the control deviation Δθ is further reduced, and the integrated value accumulated in the integrating unit 71 is also reduced. However, although it depends on the storage capacity of the integration unit 71, when the hull direction matches the target direction, the value remains in the integration unit 71, so that the hull direction passes the target direction and goes to the opposite side. It will be dressed like that.
[0036]
In this case, a negative value (control deviation Δθ) is accumulated in the integrating unit 71, and the hull direction starts to return to match the target direction again. While repeating such overshoots, the hull direction converges to the target direction and finally stabilizes when (α + integrated value + Δθ) = 0. Needless to say, the overshoot can be adjusted by adding an appropriate control block.
[0037]
【The invention's effect】
According to the ship maneuvering method and the apparatus used for implementing the same according to the present invention, by controlling the ship's traveling direction to coincide with the target direction, a straight course to the target point even under the influence of tidal current and wind Therefore, it is possible to shorten the arrival time to the target point and suppress wasteful fuel consumption.
[Brief description of the drawings]
FIG. 1 is a control block diagram showing a control system of an apparatus for carrying out a boat maneuvering method according to an embodiment of the present invention.
FIG. 2 is a diagram showing a relationship between a hull direction in a ship maneuvering method according to the present invention and a target direction, a traveling direction of a ship , and a control deviation with respect to the direction.
FIG. 3 is a diagram showing a trajectory for navigating along the shortest route to a target point when navigating under the influence of tidal current and wind from the side and controlling by the ship maneuvering method according to the present invention.
[Fig. 4] A graph showing the relationship between the velocity of the tidal current from the side and the time required for a ship navigating at 1 m / s to reach the target point 100 m ahead under this influence. The solid line indicates the result of the present control, and the solid line indicates the result of the present control.
FIG. 5 is a control block diagram showing another control system of the apparatus for carrying out the boat maneuvering method according to the embodiment of the present invention.
FIG. 6 is a control block diagram showing a control system of a conventional boat maneuvering apparatus.
FIG. 7 is a diagram showing the relationship between the hull direction and the target direction in the conventional direction control.
FIG. 8 is a diagram showing a trajectory for navigating a shortest route to a target point when navigating by a conventional azimuth control under the influence of tidal current and wind from the side.
[Fig. 9] When navigating by conventional azimuth control in response to a tide of 0.1m / s to 0.9m / s from the side, and navigating to a target point 100m ahead at a low speed of 1m / s from the starting point It is a graph which shows the navigation locus of.
[Explanation of symbols]
1 hull
2 Navigation equipment
3 Target direction calculation unit
4 Swing motion controller
5 Steering device
6 Deviation calculator
7 Direction control part
8 Mask part
9 Second adder
71 Integration part
72 First Adder α Target Direction β Ship Traveling Direction Δθ Control Deviation

Claims (6)

The navigation device detects the hull coordinates and hull direction, calculates the target direction based on the detection result and preset target coordinates, and outputs a turn command that matches the hull direction to the direction based on the calculation result. In the ship maneuvering method,
Detecting the travel direction of the ship navigation system calculates a deviation between the traveling direction and the target direction of the ship, and outputs the turning command, such as to match the hull orientation to the orientation corresponding to the deviation Maneuvering method. When the ship speed is low, a turn command is output to match the hull direction with the target direction, while when the ship speed is high, a turn command is output to match the hull direction to the direction corresponding to the deviation. The marine vessel maneuvering method according to claim 1, wherein: The navigation device detects the hull coordinates and hull direction, calculates the target direction based on the detection result and preset target coordinates, and outputs a turn command that matches the hull direction to the direction based on the calculation result. In the ship maneuvering device,
A navigation device for detecting the traveling direction of the ship ;
Deviation calculation means for calculating a deviation between the traveling direction and the target direction of the ship detected by the navigation device;
A marine vessel maneuvering device, comprising: a turn command output means for outputting a turn command for causing the hull direction to coincide with the direction corresponding to the deviation calculated by the deviation calculation means. The turn command output means outputs a turn command for matching the hull direction with the target direction when the ship speed is low, and matches the hull direction with the direction corresponding to the deviation when the ship speed is high. The marine vessel maneuvering apparatus according to claim 3, wherein a turning command is output. The turning command output means includes
Mask means for outputting the deviation when the absolute value of the deviation calculated by the deviation calculating means is less than or equal to a predetermined value, and outputting substantially zero when exceeding the predetermined value;
Integrating means for integrating the deviation output by the mask unit;
First addition means for adding the integration result by the integration means to the target direction;
Second addition means for adding the addition result by the first addition means to the output result by the mask means;
5. A boat maneuvering apparatus according to claim 4, wherein a turning command is output so as to make the hull orientation coincide with the orientation corresponding to the addition result by the second addition means. The marine vessel maneuvering device according to any one of claims 3 to 5, further comprising a steering device that drives a rudder based on the turning command output by the turning command output means.

Images