465 results about "Ship control" patented technology

The inventive control system, as typically embodied, includes sensing mechanisms, a computational processing unit, and an algorithm for processing inputs and generating outputs to control a rotating pedestal crane equipped with a Rider Block Tagline System (RBTS). Typical inventive embodiments uniquely feature a processing algorithm that distributes various control modes that operate not only through the crane's hoisting, luffing, and slewing mechanisms but also through the crane's RBTS; the inventive algorithm thereby effectuates motion compensation and pendulation damping with respect to the crane. This algorithmic allocation of control represents a more efficient crane anti-pendulation methodology than conventional methodologies; in particular, the inventive methodology exerts significantly greater control of the payload while exacting significantly less burden upon the hoisting, luffing, and slewing mechanisms of the crane.

A motion control system for a ship has one or more sensors generating sea condition data and at least one ship control system. Analyzer software receives the sea condition data and predicts a sea condition event. Calculator software calculates one or more commands in preparation for the sea condition event. Interface software communicates the one or more commands to the at least one ship control system and the at least one ship control system implements a command in advance of the event. The at least one ship control system may comprise a ride control system having one or more motion control devices. The at least one ship control system may also comprise an auto pilot system.

The invention discloses an underwater unmanned ship control system. The underwater unmanned ship control system comprises a sealed underwater unmanned ship with zero buoyancy and a water control terminal. A controller, a driving module, a fish finding module and a communication module are arranged in the underwater unmanned ship, the driving module, the fish finding module and the communication module are all connected with the controller, the fish finding module sends a fish finding result to the controller, the controller uploads the fish finding result to the water control terminal through the communication module, the controller uploads the fish finding result of the fish finding module to the water control terminal through the communication module and receives a control command sent by the water control terminal, work among all the modules is adjusted according to the control command, and the driving module is used for driving the sailing direction of the underwater unmanned aerial vehicle. A diving fishing or fish catching function can be achieved, the fish finding module is arranged on the unmanned ship, underwater objects are detected, certain depth diving can be achieved, the fish finding module is used for underwater image collection, remote communication with a bank side can be achieved, and underwater image information is fed back in real time.

The invention provides an aquaculture online monitoring system capable of automatically cruising. The aquaculture online monitoring system comprises an online monitoring ship, a hand-held remote control terminal and a remote monitoring platform. The online monitoring ship comprises a hull, an automatic ship control part, an environment and ecology online monitoring part, a wireless communication module, a hybrid power supply system and an automatic sleeping module, wherein the automatic ship control part is partially installed on the hull; the environment and ecology online monitoring part is used for monitoring the aquaculture environment and ecology and giving an early warning when environmental and ecological indicators exceed a set threshold range; the wireless communication module is connected with the automatic ship control part and the environment and ecology online monitoring part; the hybrid power supply system is installed on the hull; the automatic sleeping module is installed on the hull and used for automatically sleeping when the monitoring ship does not need to perform monitoring or sailing; the hand-held remote control terminal and the remote monitoring platform are both connected with the wireless communication module; the hull is made of aluminum alloy. The aquaculture online monitoring system has the advantages of being capable of automatically cruising, performing online monitoring and regulation on the environment and ecology and performing remote platform control.

A boat control system can include a propulsion unit controller, a port outboard motor, and a starboard outboard motor. The propulsion unit controller can includes an electronic throttle valve control section, an electronic shift control section, an electronic steering control section, a target control value calculating section, and a GPS receiver. The target control value calculating section can be adapted to calculate engine revolutions and steering angles corresponding to target values of the port outboard motor and the starboard outboard motor based on target values preset by an operator and values detected by the GPS receiver.

The invention discloses a driving antislipping control system and the method for four-wheel drive electric automobile. It includes DSP, antislipping controller and torque adjuster. The DSP is used to process rotating speed of wheels and driving torque signal to gain control signal, and the antislipping controller is used to calculate the driving torque. The torque adjustor is used to redistribute torque to ensure balance of transverse torque. The invention would achieve the target of avoid wheel slipping.

The invention provides a multi-AUV formation optimization control method under an obstacle environment, and belongs to the technical field of ship control. A path tracking error model is established based on a sight distance navigation method, a path tracking controller is designed by adopting a feedback linear method, a multi-AUV communication topological relation and a coordination error model are established by utilizing a graph theory, and a speed coordination controller is designed, so that the formation control is achieved, and a formation optimization obstacle avoidance strategy considering the environment constraints is designed according to the obstacle environment, the optimal formation topological structure is obtained through solving the environment fitness function, so that the formation can pass through the region in the obstacle environment in an optimal formation mode.

The invention discloses a ship manoeuvring and main propulsion combination control method and a simulation system thereof, and relates to the technical field of ship control. According to course steering order and speed engine order of a ship driver, the control method achieves integrative combined control of factors such as general coordinated ship maneuverability, host performance characteristic, ship loading, marine environment disturbance, safe navigation, economic navigation and the like to motion of the ship and running of a propulsion host; and the simulation system verifies validity of the ship manoeuvring and main propulsion combination control method. The control method and the simulation system have the advantages of improving integral economical efficiency and maneuverability of a ship system, improving control effect on motion of the ship, facilitating safe navigation of the ship, preventing a diesel host from overloading, and improving reliability and economical efficiency of a power device.

The invention discloses a control method, device and system of ship navigation. The system comprises an information collecting device, a shipping line subsystem and a ship control subsystem. The information collecting device is connected with navigation equipment and used for collecting the navigation information of the navigation equipment. The shipping line subsystem is connected with the information collecting device and used for acquiring a shipping line set according to the attribute information of a ship, the collected navigation information and sea condition information in the ship navigation process, and determining a shipping line meeting preset navigation indexes and pre-acquired navigation conditions in the shipping line set as the target shipping line of the ship. The ship control subsystem is connected with the shipping line subsystem and used for controlling navigation operation equipment based on the target shipping line of the ship to enable the ship to navigate according to the target shipping line of the ship. Through the control method, device and system of the ship navigation, the problem that the accuracy of the acquired target shipping line of the ship is poor in the prior art is solved, and the effect of automatically and accurately generating the target shipping line of the ship is achieved.

A steering actuator (1) designed as a linear electro-mechanical actuator for a ship control system which comprises an electric motor (2), a controller (11) connected, via a CAN bus, to the electronic control unit of the ship control system (ECU) and an angle sensor (12) actively connected to the controller (11) for determining the angular position of the rudder (13). The electric motor (2) is designed as a vector-controlled brushless motor.

The invention belongs to the technical field of ship engineering and relates to a ship dynamic positioning control method. The ship dynamic positioning control method comprises the following steps that model identification is conducted on a ship dynamic movement model, and a support vector machine predicting model is established; surging, swaying and yawing directions of a ship power positioning system are preset according to expected positions and postures, the support vector machine predicting model is embedded into a general predict controller, and the surging, swaying and yawing movements are respectively controlled; the general predict controller applies three torques in the surging, swaying and yawing directions to the ship dynamic movement model through a thrust distribution module and feeds back surging and swaying displacement and a yawing angle, and a closed-loop feedback control system is formed to control the ship power positioning system. The ship dynamic positioning control method has the advantages of multiple steps of predicting, rolling optimization and feedback compensation mechanisms, a good control effect on a ship, high positioning precision and the like. In addition, the ship dynamic positioning control method can be automatically applied to ship loading, sea condition variation and the like.

The invention discloses a ship electric propulsion system with hybrid power supply of a diesel generator set and a power battery. The system comprises a ship control system, a power system, a distribution board and an electric propulsion system, wherein a power management controller and a propulsion manipulation controller are arranged in the ship control system; the power system is connected with the electric propulsion system through the distribution board; the power system and the distribution board are connected with the power management controller respectively; and the electric propulsion system is connected with the propulsion manipulation controller. A shore power distribution box, a diesel generator set and a power battery pack are arranged in the power system; a frequency converter is arranged in the electric propulsion system and connected with a propulsion motor; the propulsion motor is connected with a propeller; a busbar is arranged in the distribution board and provided with a main switch and a load switch; the main switch is connected with the generator set; and the load switch is connected with the frequency converter. By adopting the hybrid power supply mode of diesel generator set and power battery, the safe sailing of the ship is ensured, and the continuation performance of the ship is improved.

The present invention relates to an unmanned ship information interaction system. The system comprises an unmanned ship control system and a shore-base / parent ship control system. The technical characteristic is as follows: the unmanned control system comprises a ship information collection module, a ship information distribution module and a sailing control module. The ship information distribution module is connected with the ship information collection module and the sailing control module. The shore-base / parent ship control system comprises a shore-base / parent ship information distribution module, a sailing monitor system, a radar terminal, an AIS terminal and a video terminal. The shore-base / parent ship information distribution module is connected with the sailing monitor system, the radar terminal, the AIS terminal and the video terminal. The unmanned control system and the shore-base / parent ship control system are connected through a wireless transmission system. The unmanned ship information interaction system can represent navigation, environment and working conditions of the unmanned ship at the same time, and provides information support for manually controlled navigation, auto navigation and intelligent collision avoidance of the unmanned ship, thereby effectively avoiding collision in navigation.

The invention discloses an unmanned ship navigation-following fixed time formation control method. The method belongs to the field of unmanned ship control, and comprises the following steps: establishing dynamics and kinematics models of a navigation unmanned ship and a following unmanned ship, designing a fixed time control law of a navigation unmanned ship subsystem so as to realize navigationunmanned ship trajectory control, and providing a control input signal for the following unmanned ship subsystem; designing a finite time disturbance observer to realize effective observation of environmental disturbance of the following unmanned ship; establishing integral sliding mode surface, determining a following error between the following unmanned ship and the navigation unmanned ship; designing a fixed time formation control scheme based on a finite time disturbance observer under complex disturbance. A fixed time tracking control strategy based on a sliding mode technology is appliedto the navigation unmanned ship subsystem, the navigation unmanned ship is driven to accurately track an expected trajectory, the tracking precision of the system is effectively improved, a stable navigation-following unmanned ship formation pattern can still be realized in the presence of external disturbance, and the robustness of the formation system is remarkably improved.

The invention belongs to the field of dynamic positioning ship control and particularly relates to a ship positioning control method based on progressive guidance. The ship positioning control method comprises the following steps: (1) determining the target heading and the target position of a ship; (2) calculating real-time expected positions and the heading; (3) calculating required longitudinal force, lateral force, moment required during bow rotating, a north position deflection, an east position deflection and a bow direction deflection according to the current north position, the current east position, the current heading, a target north position, a target east position, a target heading, the longitudinal instantaneous speed of the ship, the lateral instantaneous speed of the ship, clockwise rotating rate, and longitudinal force, lateral force and moment which are generated by ambient disturbance. The positioning control method is designed based on progressive guidance and control. The moment and thrust which are obtained by the method gradually vary and can be ensured within the limit range of a propeller, so that the ship can stably arrive in the target position without oscillation, and the positioning precision is higher.

The invention discloses an unmanned surface vehicle navigation and control teleoperation platform, including a navigation radar, an automatic identification system, an attitude and heading reference system, a rotating speed and rudder angle sensor, a vehicle rudder control module, a yacht-mounted industrial control computer and a shore / mother ship control computer. The shore / mother ship control computer and the yacht-mounted industrial control computer are in bidirectional connection via TCP / IP or UDP protocols. The navigation radar and the automatic identification system are connected with the shore / mother ship control computer through an RS422 / 485 module. The automatic identification system, the attitude and heading reference system and the rotating speed and rudder angle sensor are connected to the yacht-mounted industrial control computer respectively. The yacht-mounted industrial control computer is connected with the rotating speed and rudder angle sensor through the vehicle rudder control module. The shore / mother ship control computer is connected with an engine telegraph and rudder order sensor based on a sliding resistor, and a rotating speed and rudder angle display module respectively. In the navigation guiding process, data can be traced and system parameters can be automatically identified by the radar, the collision risk between objects around the yacht and the unmanned surface vehicle can be timely analyzed, and the trial ship-operating avoidance scheme is provided.

The invention discloses a trajectory tracking method for an under-actuated unpiloted ship controlled based on a limited backstepping method, and the method comprises the steps: (1), model building: building a three-freedom-degree kinetic and dynamic model of the under-actuated water surface unpiloted ship in an inertial coordinate system; (2), distance control design: giving an expected trajectory, calculating a position virtual control law through a position error, further deducing the actual input control law with the output constraint for controlling the longitudinal speed through the virtual control law, and carrying out the estimation and compensation of the external interference through a neural network, so as to reduce the distance difference between the unpiloted ship and a reference trajectory; (3), angle control design: calculating an angle error, calculating an angle virtual control law, further deducing the actual input control law with the output constraint for controllingyawing angular speed through the virtual control law, and carrying out the estimation and compensation of the external interference through the neural network, so as to reduce the angle difference between the unpiloted ship and the reference trajectory.

The invention provides an experimental control structure of an unmanned surface vessel, which comprises a shore module, a ship module, a navigation sensor and a ship body propelling and steering mechanism. A data collecting and receiving module collects movement parameter information of a ship body measured by the navigation sensor according to a set control cycle; a ship communication module transfers the movement parameter information of the ship body to a shore communication module; a navigational parameter display module displays the movement parameter information of the ship body; a movement control module carries out movement control resolving according to the movement parameter information of the ship body to obtain a drive instruction of movement of the ship body; and the shore communication module transfers the drive instruction to the ship communication module, and the ship communication module transfers an execution mechanism drive module and controls the ship body propelling and steering mechanism to drive the ship body to move according to the control requirement. According to the experimental control structure, modifying and validating of a movement control algorithm can be finished just by modifying shore control software in an experimental process without modifying ship control software, and a research of a movement control experiment of the unmanned surface vessel is conveniently carried out.

A marine vessel control system includes a control unit, a first communication bus, a second communication bus, and an auxiliary device connection section. The control unit includes a main output section arranged to output marine vessel maneuvering control information including starting information of a marine vessel propulsion device, and a sub output section arranged to output backup information including the starting information of the marine vessel propulsion device. The first communication bus is connected to the marine vessel propulsion device and the control unit, and is arranged to transmit the marine vessel maneuvering control information to the marine vessel propulsion device. The second communication bus is connected to the marine vessel propulsion device and the control unit, and is arranged to transmit the backup information to the marine vessel propulsion device. The second communication bus includes an auxiliary device connection section that is arranged to enable connection of an auxiliary device that executes communication, related to auxiliary information other than the marine vessel maneuvering control information, with at least one of the marine vessel propulsion device and the control unit via the second communication bus.

A ship handling simulator driving and controlling device simulation test system comprises a simulation test board body configured to build a controlling device and a simulation system to provide a device control and maintenance platform, a driving controlling device and panel configured to perform man-machine interaction operation; a function development module configured to realize the control device simulation and the development test of the driving and control device for realizing various types of ship functions; and an integrated data collection and detection system configured to collect, detect and analyze the operation data and state of the ship driving and controlling device. The simulation test system has a ship control simulation driving and controlling device simulation function, and is applied to the ship driving and controlling simulation training and experiment teaching; and moreover, the simulation test system has good development and can build a ship control simulator driving and controlling simulation device based on different development frame scheme, and is suitable for the realization of various ship and maritime work device control simulation functions.

A method and system for extending the electronic operational range of a slow vehicle, such as a ship, by using a remotely SHIP controlled unmanned faster vehicle, such as an Unmanned Aerial Vehicle (UAV), and by way of example a remotely controlled drone. More particularly, the present invention relates to a method and system for extending the Electronic Warfare (EW) support for a ship.

A system for controlling a marine vessel having first and second waterjets, corresponding first and second steering nozzles and corresponding first and second reversing buckets. The system comprises a speed control device for providing a first vessel control signal that corresponds to a speed to be provided to the marine vessel, a processor configured to receive the first vessel control signal and that is configured to provide at least one first actuator control signal coupled to the first and second waterjets, and at least one second actuator control signal coupled to the first and second steering nozzles and the first and second reversing buckets. The system any of improves upon turns provided by conventional waterjet propulsion systems, improves upon slowing down or stopping marine vessels as is done by conventional waterjet propulsion systems, and improves upon the controllability of the waterjet propulsed marine vessel at low vessel speeds.

The invention provides an adaptive fuzzy optical control method and system for a non-linear discrete system of a ship course, and belongs to the technical field of automatic ship control. Aiming at the non-linear discrete system of the ship course, the method uses a fuzzy optical learning adaptive algorithm to solve the optical control problem of the discrete non-linear system of the ship course,effectively reduce energy consumption of the controller, reduce abrasion of a steering engine, and improve course tracking speed and accuracy.

A watercraft control system for a watercraft having multiple control stations routes operation control signals in a non-competing, non-contradictory manner. In an embodiment, the control system includes a plurality of links. When abnormalities affect one or more of the communication links, the control system maintains communication through one or more of the unaffected communication links.

The invention provides a high-reliability unmanned ship control system and an implementation method thereof. The system comprises a communication module, a motor control module and a main control module. Compared with a traditional unmanned ship control system, the communication function and the motor control function are separated from the main control module to serve as independent modules, and the information interaction is conducted through the CAN bus communication process. Therefore, system problems are prevented, and the stability of the system is improved. A heartbeat mechanism is established among the communication module, the motor control module and the main control module, and then whether each module works normally or not can be judged. When any module cannot work normally, a corresponding safety protection measure is automatically started. According to the technical scheme of the invention, multiple safety protection measures are added. Therefore, in the conditions that the communication between an unmanned ship and a ground control system fails, one module of the unmanned ship cannot work normally and the like, the unmanned ship can continue to perform a task or to be recycled. As a result, the running stability and the running safety of the unmanned ship are improved.