EP0423901A1 - Système pour la stabilisation d'un bateau - Google Patents

Système pour la stabilisation d'un bateau Download PDF

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Publication number
EP0423901A1
EP0423901A1 EP90202806A EP90202806A EP0423901A1 EP 0423901 A1 EP0423901 A1 EP 0423901A1 EP 90202806 A EP90202806 A EP 90202806A EP 90202806 A EP90202806 A EP 90202806A EP 0423901 A1 EP0423901 A1 EP 0423901A1
Authority
EP
European Patent Office
Prior art keywords
signals
ship
control
waterjets
actuators
Prior art date
Legal status (The legal status 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 status listed.)
Withdrawn
Application number
EP90202806A
Other languages
German (de)
English (en)
Inventor
Petrus Gerardus Maria Van Der Klugt
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Van Rietschoten & Houwens Elektrotechnische Bv Mij
Original Assignee
Van Rietschoten & Houwens Elektrotechnische Bv Mij
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 Van Rietschoten & Houwens Elektrotechnische Bv Mij filed Critical Van Rietschoten & Houwens Elektrotechnische Bv Mij
Publication of EP0423901A1 publication Critical patent/EP0423901A1/fr
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/40—Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
    • 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
    • B63H25/46—Steering or dynamic anchoring by jets or by rudders carrying jets

Definitions

  • the invention relates to a control system for controlling the propulsion installation of a ship which during operation is propelled by at least two waterjets, the installation comprising: - actuators for controlling the direction of the waterjets in response to control signals, and - a control unit which during operation receives setpoint signals and ship condition signals, which signals are processed according to a predetermined algorithm to generate control signals which are supplied to said acutators.
  • the speed of a ship will be controlled by controlling the number of revolutions per minute of the motor driving the pumps which in turn are generating the waterjets. It is furthermore known to influence the speed of a ship by varying the angle between the waterjet direction vector and the horizontal plane. An increase of said angle will lead to a decrease of the horizontal vector component and therewith to a decrease of the propulsion force.
  • Varying the vertical angle between the direction vectors of the waterjets and the horizontal plane can also be used for trimming the ship.
  • a system in which this feature is applied is for instance described in the US patent 3,756.185.
  • directing the waterjet somewhat downwards can be applied for tuning the vessel, in other words for influencing the average position of the vessel in relation to the horizontal plane in a speed dependent manner.
  • the object of the invention is now to develop the prior art system further such that the system is not only suited to propel a ship with predetermined speed in a predetermined direction, but is also suited to stabilize a ship, especially to diminish roll angle movements and pitch angle movements of the vessel.
  • a system of the type described in the heading paragraph which is characterized in that the system comprises furthermore - means for detecting the momentaneous roll angle of the ship or a parameter related therewith, and for generating corresponding roll angle signals, and that - the control system receives said roll angle signals from said detection means, interpretes these roll angle signals as one of the possible ship condition signal and processes said signals according to said algorithm and supplies control signals to the actuators for controlling the direction of the waterjets such that the roll angle will be decreased.
  • control system of the type mentioned in the heading paragraph in that the system comprises furthermore - means for detecting the momentaneous pitch angle of the ship or a parameter related therewith, and for generating corresponding pitch angle signals, and that - the control system receives said pitch angle signals from said detection means, interpretes these pitch angle signals as one of the possible ship condition signal and processes said signals according to said algorithm and supplies control signals to the actuators for controlling the direction of the waterjets such that the pitch angle will be decreased.
  • control system is embodied such that both the roll movement as well as the pitch movement will be counteracted.
  • An embodiment designed for this purpose is according to the invention characterized in that the system comprises - means for detecting the momentaneous roll angle of the ship or a parameter related therewith, and for generating corresponding roll angle signals, - means for detecting the momentaneous pitch angle of the ship or a parameter related therewith, and for generating corresponding pitch angle signals, and that - the control system receives said roll angle signals and pitch angle signals from said respective detection means, interpretes these roll angle signals and pitch angle signals as possible ship condition signal and processes said signals according to said algorithm and supplies control signals to the actuators for controlling the direction of the waterjets such that both the roll angle and the pitch angle will be decreased.
  • Figure 1 illustrates in the form of a schematic control diagram the components of a control system which is known as such.
  • the ship which is propelled by means of at least two waterjets is in general indicated by the reference number 1.
  • the waterjets take care that the ship is propel led with a predetermined speed, registered or measured by the detector 2.
  • the direction of the waterjets is determined for the port side by the PS-actuator 3 and for the starboard side by the SS-actuator 4.
  • Both actuators 3 and 4 are controlled by means of an adjustment signal or setpoint signal which determines the desired speed and which is supplied to the input 6.
  • This setpoint signal at the input 6 is in a comparator 5 compared with the momentaneous speed signal at the output 2 and as a result of this comparison an error signal is generated which is supplied to the actuators 3 and 4 to control said actuators 3 and 4 such that the desired speed is obtained and maintained.
  • a comparator 5 compared with the momentaneous speed signal at the output 2 and as a result of this comparison an error signal is generated which is supplied to the actuators 3 and 4 to control said actuators 3 and 4 such that the desired speed is obtained and maintained.
  • the vertical angle between the waterjets and the horizontal plane is for this purpose increased if the speed has to be decreased or is decreased if the speed has to be increased.
  • Figure 2 illustrates a system which is further developed in agreement with the invention.
  • the ship 1 which comprises the waterjet generators for generating the waterjets to propel the ship, is unchanged and so are both actuators 3 and 4 for controlling the direction of both waterjets.
  • the ship Apart from the relocation movement with a preset speed, determined by the setpoint signal at the input 6, the ship will move in some other ways. Especially the ship will carry out pitch and roll movements.
  • the roll movement of the ship is in the embodiment of figure 2 detected by a detector 8 supplying a signal to the input 9 of the control unit 10.
  • the control unit 10 receives furthermore a speed setpoint signal at the input 6.
  • the roll movement of the ship is preferably detected by determining the roll angle velocity because detectors suitable for that purpose are easily obtainable at reasonable prices.
  • detectors suitable for that purpose are easily obtainable at reasonable prices.
  • the roll angle itself or another parameter which is related to the roll angle is also possible.
  • the input signal at the input 6, by means of which a predetermined speed is set, is converted into control signals for the actuators 3 and 4 in such a manner that the desired speed of the ship is obtained and maintained. Under the influence of these control signals the waterjets will simultaneously be directed somewhat more downwards if the speed has to be decreased or somewhat more upwards if the speed has to be increased.
  • the roll angle information at the input 9 is converted by the control unit 10 in further control signals for both actuators 3 and 4 which on the basis of these signals take care that the waterjets from the position, determined by the speed setpoint will move in vertical direction such that the roll movement of the ship is counteracted. If during this roll movement the port side of the ship is heading downwards and the starboard side of the ship is in agreement therewith heading upwards, then the actuators 3 and 4 will, under control of the control unit 10, change the vertical angle of both waterjets such that the starboard jet will be directed more downwards so that the downwards movement of the starboard side of the ship is counteracted. Simultaneously the starboard jet is moved somewhat upwards so that the average vertical angle of both waterjets and therewith the speed of the ship is not or hardly influenced.
  • Figure 3 illustrates a further development of a system according to the invention.
  • the components 1 until 9 are already present in figure 2 and are functioning in exactly the same manner as described with reference to figure 2.
  • the system according to figure 3 comprises a second detector 11 for detecting pitch movements of the ship.
  • the pitch movement of the ship is preferably detected by the determining the pitch angle velocity because suitable detectors for this purpose are easily obtainable at reasonable prices.
  • the detector 11 supplies in this embodiment a signal corresponding to the pitch angle to the input 12 of the adapted control unit 10′.
  • the setpoint signal at the input 6 is processed in such a manner that on the basis of this setpoint signal (and eventually on the basis of the feedback velocity signal derived from the detector 2, which feedback connection is also not illustrated separately in this figure) control signals are generated for the actuators 3 and 4 to adjust the average vertical angle of the waterjets in relation to the horizontal plane in such a manner that the desired speed of the ship is maintained.
  • the pitch movement of the ship is detected again by means of the detector 8 and the corresponding signal at the input 9 is processed by the control unit 10′ in such a manner that therewith both waterjets are in the above described manner moved in counter phase such that the roll movement of the ship is counteracted.
  • the pitch movement of the ship is detected by means of the detector 11 and a signal, corresponding especially to the pitch angle velocity of the ship, is supplied to the input 12 of the control unit 10′.
  • This signal is converted by the control unit 10′ in control signals for the actuators 3 and 4 to change the vertical angle between both waterjets and the horizontal plane in-phase, such that the roll movement is counteracted. If during such a roll movement the stern of the ship is moving downwards and the bow of the ship is moving upwards then this movement can be counteracted by directing both waterjets more downwards. If on the other hand the stern of the ship is moving upwards and the bow of the ship is moving upwards then this movement can be corrected by directing both waterjets more upwards.
  • the control unit takes care that the average vertical angle between both waterjets and the horizontal plane does not change so that this roll angle correction does not have any influence on the average speed of the ship.
  • the vertical movement vectors of both waterjets will on the one hand comprise an in-phase component, which takes care for the simultaneous movement of the waterjets upwards or downwards dependent on the roll movement of the ship, and will comprise on the other hand an out-of-phase component which takes care that both waterjets are in counterphase moved upwards or downwards dependent on the roll movement of this ship.
  • the vertical movements of the waterjets are influenced by the actuators 3 and 4 in such a manner that dependent on the speed, roll angle or pitch angle the following adjustments will be obtained.
  • - speed adjustment To set a lower speed than the maximum speed both waterjets can be directed under a certain angle downwards. The angle is fixed dependent on the setpoint signal and corresponds with a predetermined speed.
  • - roll angle compensation To eliminate the roll angle movement of the ship both waterjets are, in the rithm of the pitch movement, simultaneously or in-phase moved upwards or downwards in such a manner that the pitch movement of the ship is counteracted.
  • this rithmical upwards or downwards in-phase movement of both waterjets will take place with respect to a selected vertical reference angle which correspond to the desired speed setting.
  • - roll angle correction For correcting the roll angle the vertical angles between both waterjets are changed in counter phase in the rithm of the roll movement to direct both waterjets more or less downwards such that the roll movement is counteracted. In combination with the speed setting this modulation of the waterjet directions will take place with respect to the vertical reference angle which corresponds to the desired speed setting. If furthermore the pitch angle correction is applied than the in-phase control for pitch angle correction and the out-of-phase control for roll anlge correction are carried out in combination with respect to the reference angle corresponding to the desired speed setting.
  • FIG 4 illustrates in more detail a possible realization of the control unit 10′ by means of analog components.
  • the ship 1 the PS-actuator 3, the SS-actuator 4, the detector 8 for detecting the roll angle velocity of the ship 1, the detector 11 for detecting the pitch angle velocity of the ship 1 and the speed detector 2 for detecting the speed of the ship 1.
  • the speed setpoint signal 6 will be compared in the comparator 5 with the momentaneous speed and an error signal will be supplied to the control unit 10 ⁇ .
  • this control unit 10 ⁇ comprises two amplifiers 13 and 14 for amplifying the signals of the detectors 8 and 11 with a predetermined factor.
  • the amplified signals are supplied to the respective summing means 15 and 16 in which the various signals are combined.
  • Figure 5 illustrates the principle diagram of an embodiment in which the control unit is implemented by means of a computer 10′′′. It is assumed in this figure that when eventual analog to digital conversion of the signals delivered by the detectors 2, 8 and 11 is carried out in the computer 10′′′.
  • the computer 10′′′ is preferably programmed such that a combination of PID-controllers is simulated by means of which controllers the sensor signals are converted into control signals for the actuators 3 and 4. The implementation of such an embodiment based on the data found in this description is considered within reach of an expert in this field.
  • the control does not operate if the ship has to be propelled with maximum speed. In that case a vertical angle between the waterjets and the horizontal plane will result into a decrease of the horizontal propelling force of the waterjet. Under circumstances it might therefore be preferable to restrict the maximum settable speed in such a manner that it is possible to direct the waterjets with a sufficient angle in vertical direction to obtain the desired compensation of roll movement and/or pitch movement. Eventually such a restriction can be made dependent on the actual local circumstances. If the ship is subjected to strong roll movements then a stronger vertical swaying movement of the waterjets will be necessary to obtain a desired level of compensation which leads to a larger restriction of the maximum speed than in case of minor roll movements.
  • ship includes not only a conventional ship or vessel which is propelled by two waterjets, but includes for instance also a floating platform which can be propelled and manoeuvred eventually by means of more than two waterjets.
  • the invention can be applied for a combined control of the vertical angles between the various waterjets and the horizontal plane. If desired, and if the configuration of waterjets does allow it then in such an embodiment it is possible to maintain the platform at a desired position, in other words to maintain a zero speed and to stabilize simultaneously the against roll or pitch movements.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Feedback Control In General (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
EP90202806A 1989-10-19 1990-10-19 Système pour la stabilisation d'un bateau Withdrawn EP0423901A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL8902595 1989-10-19
NL8902595A NL8902595A (nl) 1989-10-19 1989-10-19 Inrichting voor het stabiliseren van een vaartuig.

Publications (1)

Publication Number Publication Date
EP0423901A1 true EP0423901A1 (fr) 1991-04-24

Family

ID=19855485

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90202806A Withdrawn EP0423901A1 (fr) 1989-10-19 1990-10-19 Système pour la stabilisation d'un bateau

Country Status (3)

Country Link
EP (1) EP0423901A1 (fr)
JP (1) JPH03193589A (fr)
NL (1) NL8902595A (fr)

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996033910A1 (fr) * 1995-04-26 1996-10-31 Per Werenskiold Agencement reduisant les mouvements provoques par les vagues dans un bateau a propulsion a hydrojet
KR100559932B1 (ko) * 2002-07-09 2006-03-13 구병철 증기터빈과 고정 피치 프로펠러를 이용한 다이나믹 위치 제어 시스템
ITMI20090692A1 (it) * 2009-04-23 2010-10-24 Rodriquez Marine System Srl Impianto e metodo di stabilizzazione di un'imbarcazione.
US8145370B2 (en) 2005-09-22 2012-03-27 Cwf Hamilton & Co. Limited Steering system for a marine vessel
EP2338786A3 (fr) * 2009-12-23 2012-12-12 Brunswick Corporation Systèmes et procédés d'orientation d'un navire afin de minimiser le tangage ou le roulis
WO2013039445A1 (fr) * 2011-09-16 2013-03-21 Q-Tagg R&D Ab Procédé et dispositif pour prévenir et atténuer le roulis d'un navire
US8478464B2 (en) 2009-12-23 2013-07-02 Brunswick Corporation Systems and methods for orienting a marine vessel to enhance available thrust
US8924054B1 (en) 2013-03-14 2014-12-30 Brunswick Corporation Systems and methods for positioning a marine vessel
EP3321163A1 (fr) * 2016-11-15 2018-05-16 Schottel GmbH Procédé d'amortissement du mouvement de roulis d'une embarcation
US10259555B2 (en) 2016-08-25 2019-04-16 Brunswick Corporation Methods for controlling movement of a marine vessel near an object
US10322787B2 (en) 2016-03-01 2019-06-18 Brunswick Corporation Marine vessel station keeping systems and methods
US10324468B2 (en) 2017-11-20 2019-06-18 Brunswick Corporation System and method for controlling a position of a marine vessel near an object
US10429845B2 (en) 2017-11-20 2019-10-01 Brunswick Corporation System and method for controlling a position of a marine vessel near an object
US10633072B1 (en) 2018-07-05 2020-04-28 Brunswick Corporation Methods for positioning marine vessels
US10671073B2 (en) 2017-02-15 2020-06-02 Brunswick Corporation Station keeping system and method
US10845812B2 (en) 2018-05-22 2020-11-24 Brunswick Corporation Methods for controlling movement of a marine vessel near an object
US10926855B2 (en) 2018-11-01 2021-02-23 Brunswick Corporation Methods and systems for controlling low-speed propulsion 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
CN114179961A (zh) * 2020-09-15 2022-03-15 上海交通大学 姿态自适应式水面双体无人平台
US11530022B1 (en) 2018-07-10 2022-12-20 Brunswick Corporation Method for controlling heading of a marine vessel
US12110088B1 (en) 2022-07-20 2024-10-08 Brunswick Corporation Marine propulsion system and method with rear and lateral marine drives
US12134454B1 (en) 2022-07-20 2024-11-05 Brunswick Corporation Marine propulsion system and method with single rear drive and lateral marine drive
US12258115B2 (en) 2022-07-20 2025-03-25 Brunswick Corporation Marine propulsion system and joystick control method

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE690383C (de) * 1936-04-29 1940-04-29 Siemens App Schiffsstabilisierungsanlage
FR1285154A (fr) * 1961-03-30 1962-02-16 Dowty Marine Ltd Appareil de propulsion et anti-roulis pour bateaux
US3155065A (en) * 1963-05-03 1964-11-03 Strumskis Louis Ship stabilizer
US4863404A (en) * 1982-12-16 1989-09-05 Salo Eric A Jet propulsion and stabilization means for ships

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE690383C (de) * 1936-04-29 1940-04-29 Siemens App Schiffsstabilisierungsanlage
FR1285154A (fr) * 1961-03-30 1962-02-16 Dowty Marine Ltd Appareil de propulsion et anti-roulis pour bateaux
US3155065A (en) * 1963-05-03 1964-11-03 Strumskis Louis Ship stabilizer
US4863404A (en) * 1982-12-16 1989-09-05 Salo Eric A Jet propulsion and stabilization means for ships

Cited By (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996033910A1 (fr) * 1995-04-26 1996-10-31 Per Werenskiold Agencement reduisant les mouvements provoques par les vagues dans un bateau a propulsion a hydrojet
KR100559932B1 (ko) * 2002-07-09 2006-03-13 구병철 증기터빈과 고정 피치 프로펠러를 이용한 다이나믹 위치 제어 시스템
US8145370B2 (en) 2005-09-22 2012-03-27 Cwf Hamilton & Co. Limited Steering system for a marine vessel
ITMI20090692A1 (it) * 2009-04-23 2010-10-24 Rodriquez Marine System Srl Impianto e metodo di stabilizzazione di un'imbarcazione.
WO2010122526A1 (fr) * 2009-04-23 2010-10-28 Rodriquez Marine System Srl Système et procédé de stabilisation d'un bateau
US8478464B2 (en) 2009-12-23 2013-07-02 Brunswick Corporation Systems and methods for orienting a marine vessel to enhance available thrust
EP2338786A3 (fr) * 2009-12-23 2012-12-12 Brunswick Corporation Systèmes et procédés d'orientation d'un navire afin de minimiser le tangage ou le roulis
US8417399B2 (en) 2009-12-23 2013-04-09 Brunswick Corporation Systems and methods for orienting a marine vessel to minimize pitch or roll
WO2013039445A1 (fr) * 2011-09-16 2013-03-21 Q-Tagg R&D Ab Procédé et dispositif pour prévenir et atténuer le roulis d'un navire
US9145191B2 (en) 2011-09-16 2015-09-29 Q-Tagg R&D Ab Method and device for averting and damping rolling of a ship
US8924054B1 (en) 2013-03-14 2014-12-30 Brunswick Corporation Systems and methods for positioning a marine vessel
US10322787B2 (en) 2016-03-01 2019-06-18 Brunswick Corporation Marine vessel station keeping systems and methods
US11260949B2 (en) 2016-03-01 2022-03-01 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
EP3321163A1 (fr) * 2016-11-15 2018-05-16 Schottel GmbH Procédé d'amortissement du mouvement de roulis d'une embarcation
US11247753B2 (en) 2017-02-15 2022-02-15 Brunswick Corporation Station keeping methods
US10671073B2 (en) 2017-02-15 2020-06-02 Brunswick Corporation Station keeping system and method
US12252224B2 (en) 2017-02-15 2025-03-18 Brunswick Corporation Marine vessel station keeping to reduce wear and noise on propulsion system
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
US10926855B2 (en) 2018-11-01 2021-02-23 Brunswick Corporation Methods and systems for controlling low-speed propulsion of a marine vessel
US11904996B2 (en) 2018-11-01 2024-02-20 Brunswick Corporation Methods and systems for controlling propulsion of a marine vessel to enhance proximity sensing in a marine environment
US12084160B2 (en) 2018-11-01 2024-09-10 Brunswick Corporation Methods and systems for controlling low-speed propulsion 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
CN114179961A (zh) * 2020-09-15 2022-03-15 上海交通大学 姿态自适应式水面双体无人平台
US12110088B1 (en) 2022-07-20 2024-10-08 Brunswick Corporation Marine propulsion system and method with rear and lateral marine drives
US12134454B1 (en) 2022-07-20 2024-11-05 Brunswick Corporation Marine propulsion system and method with single rear drive and lateral marine drive
US12258115B2 (en) 2022-07-20 2025-03-25 Brunswick Corporation Marine propulsion system and joystick control method

Also Published As

Publication number Publication date
JPH03193589A (ja) 1991-08-23
NL8902595A (nl) 1991-05-16

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