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Course control method for reducing invalid steering

A heading control and control volume technology, applied in two-dimensional position/course control, steering gear, non-electric variable control, etc., can solve problems such as poor stability and poor filtering effect

Active Publication Date: 2020-04-24
中国船舶集团有限公司第七零七研究所九江分部
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Problems solved by technology

[0005] In view of the above problems, the present invention provides a ship course control method, which solves the problems of poor stability and poor filtering effect existing in the existing ship course filtering method, and can reduce the ineffective steering of the ship under the interference of wind and waves, reduce fuel consumption, and at the same time The purpose of reducing the mechanical wear of steering gear equipment

Method used

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  • Course control method for reducing invalid steering
  • Course control method for reducing invalid steering
  • Course control method for reducing invalid steering

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Embodiment Construction

[0074] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0075] refer to figure 1 As shown, a heading control method for reducing ineffective steering provided by an embodiment of the present invention includes:

[0076] S1. Using a broad-spectrum ocean wave filter to calculate the coefficients of the broad-spectrum ocean wave filter; the calculation results of the broad-spectrum ocean wave filter coefficients include: a Kalman filter gain matrix and a controller coefficient matrix;

[...

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Abstract

The invention discloses a course control method for reducing invalid steering. The method comprises the steps of calculating a broad-spectrum wave filter coefficient; resolving a coefficient matrix required in the step of control component filtering; and carrying out a Kalman filtering state quantity calculation step. A result provides a step of calculating a basic control quantity and the step ofcontrol component filtering, because the basic control quantity and the filtering control component are calculated at the same time, large-phase lag caused by the fact that a band elimination filteris adopted for filtering firstly and then participates in calculation of the control quantity can be avoided, and therefore the control precision and stability of a ship course control system can still be guaranteed during filtering. After the calculated final rudder control quantity is sent to a steering engine control unit, effective control over the course can be achieved at a low steering frequency under the interference of stormy waves, and mechanical abrasion of ship steering engine equipment can be reduced.

Description

technical field [0001] The invention belongs to the technical field of ship automatic manipulation and control, and in particular relates to a course control method for reducing invalid steering. Background technique [0002] When a ship sails in wind and waves, it generates high-frequency yaw motion under the action of waves. In order to overcome the yaw, the conventional control method is to frequently turn the rudder to the left and right. Since the yaw frequency is much higher than the closed-loop bandwidth of the ship control system, the rudder to the left and right cannot suppress the high-frequency yaw motion and cannot produce effective control effects. , there are a lot of invalid steering in the control process. The rapid drop caused by frequent steering increases fuel consumption, and the resulting wear of the steering gear seriously affects the service life of mechanical equipment. Therefore, the problem of ineffective steering under wind and wave interference i...

Claims

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Application Information

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IPC IPC(8): G05D1/02B63H25/00
CPCG05D1/0206B63H25/00Y02A90/10
Inventor 赵光李军王益民徐雪峰谌兴良
Owner 中国船舶集团有限公司第七零七研究所九江分部
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