DK2748060T3 - Fremgangsmåde og indretning til undgåelse og dæmpning af et skibs rulning - Google Patents

Fremgangsmåde og indretning til undgåelse og dæmpning af et skibs rulning Download PDF

Info

Publication number
DK2748060T3
DK2748060T3 DK12831107.3T DK12831107T DK2748060T3 DK 2748060 T3 DK2748060 T3 DK 2748060T3 DK 12831107 T DK12831107 T DK 12831107T DK 2748060 T3 DK2748060 T3 DK 2748060T3
Authority
DK
Denmark
Prior art keywords
ship
rolling
engine
speed
propeller
Prior art date
Application number
DK12831107.3T
Other languages
English (en)
Inventor
Arne Löfgren
Tomas Lindqvist
George Fodor
Original Assignee
Q Tagg R&D Ab
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Q Tagg R&D Ab filed Critical Q Tagg R&D Ab
Application granted granted Critical
Publication of DK2748060T3 publication Critical patent/DK2748060T3/da

Links

Classifications

    • 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
    • G05D1/40—Control within particular dimensions
    • G05D1/49—Control of attitude, i.e. control of roll, pitch or yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B63B39/08—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using auxiliary jets or propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B63B39/14—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude for indicating inclination or duration of roll
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
    • 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
    • G05D1/40—Control within particular dimensions
    • G05D1/49—Control of attitude, i.e. control of roll, pitch or yaw
    • G05D1/495—Control of attitude, i.e. control of roll, pitch or yaw to ensure stability
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/30—Water vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/30—Water vehicles
    • G05D2109/34—Water vehicles operating on the water surface

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Ocean & Marine Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Feedback Control In General (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Vibration Prevention Devices (AREA)
  • Output Control And Ontrol Of Special Type Engine (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)

Claims (7)

1. Fremgangsmåde til undgåelse og dæmpning af rulning af et propeldrevet skib til havs, hvor skibets aktuelle krængningsvinkel (Θ) registreres, kendetegnet ved,at - en sekvens af de registrerede krængningsvinkler (Θ) anvendes til at beregne værdier, som karakteriserer skibets rulningsadfærd, omfattende rulningsamplitude, rulningstid og tendenser for rulningsamplituden og rulningstiden, - en model anvendes til at karakterisere skibets rulningsadfærd som en kritisk samvirken mellem skibets dynamik og en motor/propel-hastighedsstyring (304) af skibet, på grund af hvilken kritiske samvirken en del af skibets fremdriftsenergi forvandles til rulning, sådan at den kritiske samvirken øger eller vedligeholder skibets rulning, - signaler, som er relateret til skibets rulning, omfatter deres afledte af første og anden orden, og parametre, der bevirker skibets rulning, tilsammen karakteriserer skibets dynamik og anvendes i modellen, - der foretages et udvalg af en passende styrealgoritme baseret på modellen og på de beregnede værdier, som karakteriserer skibets rulningsadfærd, for at undgå og dæmpe den kritiske samvirken mellem skibets dynamik og motor/propel-hastighedsstyringen (304) ved at modificere motor/propel-hastighedsstyringen (304) sådan, at den kritiske samvirken modvirkes.
2. Fremgangsmåde ifølge krav 1, hvori undgåelse og dæmpning af den kritiske samvirken udføres ved forudsigelse af de forestående variationer i krængningsvinkel (Θ) under anvendelse af bølgemødeværdier, vindvinkler og skibskursvinkler fremskaffet enten fra tidligere målinger eller fra almindeligt tilgængelige havinformationskilder, såsom vejrrapporter, bølge- og vindrapporter og satellitpositionssystemer.
3. Fremgangsmåde ifølge krav 1 eller 2, hvori styrealgoritmen øger motor/propel-hastighedsstyringens (304) reaktionstid, så propelhastighedsændringer forekommer langsommere end skibets rulningstid, således at skibets krængningsvinkel (Θ) ikke påvirkes af motorbelastningsvariationer, idet den kritiske samvirken undgås på denne måde.
4. Fremgangsmåde ifølge krav 1 eller 2, hvori styrealgoritmen reducerer mo-tor/propel-hastighedsstyringens (304) forstærkning eller alternativt vender denne forstærknings fortegn, så skibets motorbelastningsvariationer forårsaget af rul ning i praksis reduceres eller modvirkes, idet den kritiske samvirken mindskes eller dæmpes på denne måde.
5. Fremgangsmåde ifølge ethvert af de foregående krav, hvori skibets hastighedsvariationer kompenseres ved indfletning af motor/hastighedsstyring med styrealgoritmen.
6. Computerprogram omfattende computerprogramkoder til udførelse af trinene i en fremgangsmåde ifølge ethvert af krav 1-5.
7. Computerlæsbart medium omfattende et computerprogram ifølge krav 6.
DK12831107.3T 2011-09-16 2012-09-11 Fremgangsmåde og indretning til undgåelse og dæmpning af et skibs rulning DK2748060T3 (da)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1130084A SE535979C2 (sv) 2011-09-16 2011-09-16 Metod och anordning för undvikande och dämpning av ett fartygs rullning
PCT/SE2012/050955 WO2013039445A1 (en) 2011-09-16 2012-09-11 Method and device for averting and damping rolling of a ship

Publications (1)

Publication Number Publication Date
DK2748060T3 true DK2748060T3 (da) 2018-07-23

Family

ID=47790726

Family Applications (1)

Application Number Title Priority Date Filing Date
DK12831107.3T DK2748060T3 (da) 2011-09-16 2012-09-11 Fremgangsmåde og indretning til undgåelse og dæmpning af et skibs rulning

Country Status (8)

Country Link
US (1) US9145191B2 (da)
EP (1) EP2748060B1 (da)
JP (1) JP6195122B2 (da)
KR (1) KR101980367B1 (da)
CN (1) CN103813958B (da)
DK (1) DK2748060T3 (da)
SE (1) SE535979C2 (da)
WO (1) WO2013039445A1 (da)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3071475B1 (en) * 2013-11-18 2019-04-03 AB Volvo Penta A method for controlling a boat comprising a pivotable drive unit, and a electronic vessel control unit for steering a boat
CN105022861B (zh) * 2015-06-11 2018-05-22 北京精密机电控制设备研究所 一种运载火箭用挤压式伺服系统蓄油量的确定方法
CN105468046B (zh) * 2016-01-08 2017-08-11 中国船舶重工集团公司第七0四研究所 船舶主推进系统多功率分支局部振动控制方法
EP3494039B1 (en) * 2016-08-05 2021-04-14 ZF Friedrichshafen AG Sailboat steering system and method for steering a sailboat
CN107140110B (zh) * 2017-03-21 2019-07-09 山东省科学院海洋仪器仪表研究所 一种船舶大幅横摇运动非线性阻尼系数识别方法
WO2018228696A1 (en) 2017-06-15 2018-12-20 Abb Schweiz Ag Controlling marine vessel
CN109358495B (zh) * 2018-12-05 2024-01-30 山东智翼航空科技有限公司 无人艇桨距-转速差动减摇增稳系统及方法
NO345528B1 (en) 2018-12-20 2021-03-29 Kongsberg Maritime CM AS Vessel environment condition assessment system and method
CN109850082B (zh) * 2019-04-12 2020-04-10 北京虹湾威鹏信息技术有限公司 一种无人船自扶正方法
US12600452B2 (en) 2020-11-05 2026-04-14 Marine Edge Ltd Compensating for ambient torsional loads affecting marine vessel propulsion
US11175663B1 (en) * 2021-03-15 2021-11-16 Sea Machines Robotics, Inc. Automated marine navigation
CN113212681B (zh) * 2021-04-28 2023-06-09 江苏信息职业技术学院 一种船舶横摇周期监测方法
CN114167883B (zh) * 2022-02-11 2022-04-15 中国空气动力研究与发展中心计算空气动力研究所 一种利用喷流进行高空飞行器姿态控制的方法
CN117015500B (zh) * 2022-11-10 2024-09-20 广东逸动科技有限公司 推进器、水域可移动设备及其减摇控制方法以及存储介质
CN116540699B (zh) * 2023-04-14 2024-09-24 大连海事大学 一种恶劣海况下基于模型预测控制的船舶航行控制方法
ES3039358A1 (es) * 2024-04-19 2025-10-20 Univ Del Pais Vasco / Euskal Herriko Unibertsitatea Metodo y sistema de control de inclinacion de una estructura oscilante

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1821242A (en) * 1928-08-18 1931-09-01 Old Colony Trust Company Gaseous conduction apparatus
US1774825A (en) * 1928-09-04 1930-09-02 Dow Chemical Co Method of stabilizing ships
FR2053697A5 (da) * 1969-07-15 1971-04-16 Polouektoff Jean Paul
JPS6067300U (ja) * 1983-10-17 1985-05-13 三菱重工業株式会社 主機を利用した横揺れ防止式船舶
NL8902595A (nl) * 1989-10-19 1991-05-16 Rietschoten & Houwens Elek Inrichting voor het stabiliseren van een vaartuig.
DE19537989A1 (de) * 1995-10-12 1997-04-17 En Umwelt Beratung E V I Verfahren zur Bestimmung und Quantifizierung des dynamischen Seegangseinflusses auf die Laständerung der Antriebsanlage eines Schiffes
JP2004009785A (ja) * 2002-06-04 2004-01-15 Mitsubishi Heavy Ind Ltd 波浪予測動揺低減方法及び波浪予測動揺低減装置
NL1023921C2 (nl) * 2003-07-15 2005-01-18 Quantum Controls B V Actief slingerdempingssysteem voor scheepsbewegingen.
DE10355052B4 (de) 2003-07-19 2006-11-02 Dallach, Gert, Dr. Ing. Stabilitätsbestimmung von Schiffen
NO320465B1 (no) * 2004-02-16 2005-12-12 Egeland Olav Fremgangsmate og system for testing av et reguleringssystem tilhorende et marint fartoy
JP4262127B2 (ja) * 2004-03-30 2009-05-13 Ｊｆｅソルデック株式会社 パラメトリック横揺れ防止装置
US20080183341A1 (en) * 2006-08-22 2008-07-31 Neu Wayne L Method and apparatus for torque control for machinery using counter-rotating drives
CN100568141C (zh) * 2008-03-20 2009-12-09 北京航空航天大学 一种无人机滚转改平控制方法
EP2419804B1 (en) 2009-04-14 2013-11-27 Danmarks Tekniske Universitet Prediction of resonant oscillation
NO20093007A1 (no) 2009-09-16 2011-03-17 Kongsberg Seatex As Fartoybevegelser

Also Published As

Publication number Publication date
WO2013039445A1 (en) 2013-03-21
KR101980367B1 (ko) 2019-05-20
US9145191B2 (en) 2015-09-29
EP2748060B1 (en) 2018-04-25
US20140316620A1 (en) 2014-10-23
CN103813958B (zh) 2017-10-03
SE1130084A1 (sv) 2013-03-12
CN103813958A (zh) 2014-05-21
EP2748060A1 (en) 2014-07-02
EP2748060A4 (en) 2016-03-02
SE535979C2 (sv) 2013-03-12
JP6195122B2 (ja) 2017-09-13
JP2014531360A (ja) 2014-11-27
KR20140061547A (ko) 2014-05-21

Similar Documents

Publication Publication Date Title
DK2748060T3 (da) Fremgangsmåde og indretning til undgåelse og dæmpning af et skibs rulning
Tannuri et al. Dynamic positioning systems: An experimental analysis of sliding mode control
Marzouk et al. Control of ship roll using passive and active anti-roll tanks
Yasukawa et al. Application of the MMG method for the prediction of steady sailing condition and course stability of a ship under external disturbances
Townsend et al. Control strategies for marine gyrostabilizers
Corno et al. Data-driven online speed optimization in autonomous sailboats
CN110032075B (zh) 一种动力定位船饱和补偿控制系统设计方法
CN102791571B (zh) 控制系泊海洋船只位置的方法
CN109739248B (zh) 基于adrc的船载三自由度并联稳定平台稳定控制方法
Bui et al. Dynamics modeling and motion control for high-speed underwater vehicles using H-infinity synthesis with anti-windup compensator
CN102455708A (zh) 船舶动力定位的船舶模型在线辨识和控制系统和方法
Cakici et al. Numerical roll motion control by using fins based on the linear quadratic regulator and dynamic mode decomposition
Khaled et al. A dynamic model and a robust controller for a fully-actuated marine surface vessel
Koschorrek et al. A thrust allocation algorithm considering dynamic positioning and roll damping thrust demands using multi-step quadratic programming
JP2023160045A (ja) 船舶の速度制御方法及び船舶
CN120215501A (zh) 面向海洋牧场巡航任务的转筒帆船事件触发优化控制方法
CN113009824A (zh) 变稳船自适应变稳控制方法、系统和存储介质
Patil et al. A time-domain method for analyzing the ship roll stabilization based on active fin control
Aung et al. Investigation into control strategies for manoeuvring in adverse weather conditions
Li et al. Handling roll constraints for path following of marine surface vessels using coordinated rudder and propulsion control
Ye et al. Position control of crane vessel during offshore installations: Using adaptive and robust control methods
Guan et al. Concise robust fin roll stabilizer design based on integrator backstepping and CGSA
JP2011213153A (ja) 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
Shi et al. Optimizing adaptive thrust allocation based on group biasing method for ship dynamic positioning
Sclavounos Intersections between marine hydrodynamics and optimal control theory