JPH11129978A - Oscillation restraining method of moored ship and device thereof - Google Patents
Oscillation restraining method of moored ship and device thereofInfo
- Publication number
- JPH11129978A JPH11129978A JP31277897A JP31277897A JPH11129978A JP H11129978 A JPH11129978 A JP H11129978A JP 31277897 A JP31277897 A JP 31277897A JP 31277897 A JP31277897 A JP 31277897A JP H11129978 A JPH11129978 A JP H11129978A
- Authority
- JP
- Japan
- Prior art keywords
- ship
- displacement
- mooring
- amount
- mooring line
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 13
- 230000010355 oscillation Effects 0.000 title abstract description 8
- 230000000452 restraining effect Effects 0.000 title abstract 2
- 238000006073 displacement reaction Methods 0.000 claims abstract description 52
- 230000001141 propulsive effect Effects 0.000 claims abstract 2
- 238000004804 winding Methods 0.000 claims description 15
- 230000001629 suppression Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 5
- 238000013016 damping Methods 0.000 abstract description 9
- 210000000481 breast Anatomy 0.000 description 4
- 239000011435 rock Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005316 response function Methods 0.000 description 1
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Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、船舶を港内岸壁に
係留させるための方法および装置に係り、特に波による
同調作用により船舶に動揺が発生するのを防止する係留
船舶の動揺抑制方法および装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for mooring a ship to a harbor quay, and more particularly to a method and apparatus for suppressing the movement of a moored ship in order to prevent the ship from being shaken by tuning action due to waves. About.
【０００２】[0002]
【従来の技術】従来、船舶を港内岸壁に係留させるには
船舶の長手方向を岸壁に倣わせるとともに、船舶と岸壁
との間を係留索で連結するようにしている。図５は従来
の係留状態を示した説明図である。同図に示すように船
舶１を岸壁２に係留させるには、まず船舶１の両端側か
ら岸壁２に向かって係留索３を引き出す。そして当該係
留索３の先端を岸壁２に設けた係留アンカ４に巻き付け
ることで、岸壁２への船舶１の係留を行っている。2. Description of the Related Art Conventionally, in order to moor a ship on a quay in a port, the longitudinal direction of the ship is made to follow the quay, and the ship and the quay are connected by a mooring line. FIG. 5 is an explanatory view showing a conventional mooring state. As shown in the figure, to moor the ship 1 on the quay 2, first, the mooring line 3 is pulled out from both ends of the ship 1 toward the quay 2. The tip of the mooring line 3 is wound around a mooring anchor 4 provided on the quay 2, thereby mooring the boat 1 to the quay 2.
【０００３】[0003]
【発明が解決しようとする課題】係留索３を用いての係
留は、波や風によって船舶１が岸壁２から漂流するのを
防止できるものの波や風による動揺の発生は抑えること
ができない。しかしながら防波堤などの作用により港内
に進入してくる波は小さいため、通常は船舶１の動揺が
問題になることはない。ところで係留された船舶１は係
留索３による張力（係留力）により、水平方向（図中矢
印参照、船舶１の長手方向）に数分程度の長い固有周期
を有するようになる。このため（台風等の影響により）
波や風が通常より長い周期の成分を有する場合には、た
とえ波高や風速が大きい場合においても、同調作用によ
り船舶１に大きな動揺が発生することがある。The mooring using the mooring line 3 can prevent the boat 1 from drifting off the quay 2 due to waves or winds, but cannot suppress the generation of motion due to waves or winds. However, since the waves entering the port due to the action of the breakwater and the like are small, the sway of the ship 1 does not usually pose a problem. By the way, the moored ship 1 has a long natural period of about several minutes in the horizontal direction (see the arrow in the figure, the longitudinal direction of the ship 1) due to the tension (mooring force) by the mooring line 3. Because of this (due to typhoons, etc.)
When the waves and the wind have components having a longer period than usual, even when the wave height and the wind speed are large, the boat 1 may be largely shaken by the tuning action.
【０００４】ところで船舶１の幅方向は、係留索３の張
力方向（引張方向）と一致しているため船舶１は岸壁２
に対し確実に係留される。このため船舶１の幅方向につ
いては動揺が大きくなることはない。一方船舶１の長手
方向については岸壁２の形態により係留索３の張力方向
（引張方向）と一致させることができない。このため係
留索３を岸壁２に対して斜めに張り長手方向の係留成分
を持たせている。しかしこの方法では船舶１の長手方向
から力が加わると係留アンカ４を中心に係留索３が振
れ、（振り子のような）動揺が発生する。このような動
揺が船舶１に発生すると当該船舶１への荷役作業を行う
ことができなくなる場合があったり、この状態が悪化す
ると係留索３が切断することもあった。[0004] Since the width direction of the ship 1 coincides with the tension direction (tension direction) of the mooring line 3, the ship 1 is mounted on the quay 2.
Moored securely. Therefore, the fluctuation does not increase in the width direction of the boat 1. On the other hand, the longitudinal direction of the ship 1 cannot be matched with the tension direction (tension direction) of the mooring line 3 due to the shape of the quay 2. For this reason, the mooring line 3 is stretched obliquely with respect to the quay 2 to have a mooring component in the longitudinal direction. However, in this method, when a force is applied from the longitudinal direction of the boat 1, the mooring cable 3 swings around the mooring anchor 4, and a swing (like a pendulum) occurs. When such a sway occurs in the ship 1, the cargo handling work on the ship 1 may not be performed, or when the condition worsens, the mooring line 3 may be disconnected.
【０００５】本発明は上記従来の問題点に着目し、長手
方向の動揺に対する減衰力の増加や固有周期を変更させ
ることで係留された船舶の動揺を低減させ、係留設備や
船舶への損傷を防ぐとともに荷役中止や沖待ちによる荷
役作業の遅延等を防止することを目的とする。The present invention focuses on the above-mentioned conventional problems, and reduces the sway of a moored ship by increasing the damping force and changing the natural period with respect to the sway in the longitudinal direction, thereby reducing damage to the mooring equipment and the ship. The purpose is to prevent the delay of cargo handling work due to suspension of cargo handling or waiting offshore.
【０００６】[0006]
【課題を解決するための手段】本発明は,船舶の動揺に
応じて船舶の推進機を操作したり、もしくは係留索を張
るための巻取装置を動作させれば、動揺に対する減衰力
の増加や固有周期を変更させることができ、このため係
留された船舶の動揺を低減させることができるという知
見に基づいてなされたものである。SUMMARY OF THE INVENTION According to the present invention, a damping force against a sway is increased by operating a propulsion device of the marine vessel in response to the sway of the marine vessel or by operating a winding device for stretching a mooring line. And the natural period can be changed, so that the motion of the moored ship can be reduced.
【０００７】すなわち本発明に係る係留船舶の動揺抑制
方法は、船舶に発生する長手方向の変位量もしくは係留
索の張力を検知し、これら検知量があらかじめ設定した
値を越えた際には前記検知量に応じた打消外力を前記船
舶に作用させる手順とした。ここで前記打消外力は前記
船舶が通常装備している推進機による推進力もしくは前
記係留索の張力を利用することが好ましい。That is, the method for suppressing the motion of a moored ship according to the present invention detects the amount of displacement in the longitudinal direction or the tension of the mooring line generated in the ship, and when the detected amount exceeds a preset value, the detection is performed. The procedure was such that the external force corresponding to the amount was applied to the ship. Here, it is preferable to use the propulsion force of a propulsion device normally provided on the ship or the tension of the mooring line as the external force for cancellation.
【０００８】さらに具体的には、長周期波などの発生が
予測された後、船舶長手方向の変位量を検知するととも
に、制御部に設けた操作判断部にて前記変位量とあらか
じめ設定した値とを比較し、前記変位量が前記あらかじ
め設定した値を越えた際には、前記制御部にて前記船舶
の推進機を動作させ、前記変位量に応じた打消外力を前
記船舶に作用させる手順とした。More specifically, after the occurrence of a long-period wave or the like is predicted, the displacement amount in the longitudinal direction of the vessel is detected, and the displacement amount is set to a predetermined value by an operation determining unit provided in the control unit. When the displacement exceeds the preset value, the control unit operates the propulsion device of the ship, and applies a counteracting external force to the ship in accordance with the displacement. And
【０００９】また本発明に係る係留船舶の動揺抑制装置
は、船舶に発生する長手方向の変位量もしくは係留索の
張力を検知するセンサと、このセンサからの検知量に応
じて前記船舶の推進機もしくは係留索巻取装置を操作可
能とする制御部とを前記船舶に備えるとともに、前記制
御部には前記検知量をあらかじめ設定した値と比較する
操作判断部を設けるよう構成した。Further, the motion suppression device for a moored ship according to the present invention includes a sensor for detecting a longitudinal displacement amount generated on the ship or a tension of a mooring line, and a propulsion device for the ship in accordance with the detected amount from the sensor. Alternatively, a control unit that enables the mooring line winding device to be operated is provided on the ship, and the control unit is configured to include an operation determination unit that compares the detection amount with a preset value.
【００１０】[0010]
【作用】上記構成によれば、船舶は係留索によって岸壁
に係留されている。そして係留索は一定以上の張力（係
留力）をもって船舶を係留していることから、船舶は長
手方向に数分程度の長い固有周期を有することとなる。
ここで当該固有周期に近い周波数成分を持つ波が長手方
向に加わると、同調作用により船舶の長手方向に大きな
動揺が発生する。According to the above arrangement, the ship is moored to the quay by the mooring lines. Since the mooring lines moor the vessel with a certain level of tension (mooring force), the vessel has a long natural period of about several minutes in the longitudinal direction.
Here, when a wave having a frequency component close to the natural period is applied in the longitudinal direction, a large fluctuation occurs in the longitudinal direction of the ship due to the tuning action.
【００１１】この動揺の大きさおよび方向を計測するた
め船舶にセンサを設け、当該センサにて基準点を計測
し、当該基準点に対する船舶の変位量を時間経過ととも
に算出する。なお動揺の大きさおよび方向の検出にはＧ
ＰＳなどの測距装置を用いるようにしてもよい。また係
留索にセンサを設け、当該センサにて動揺による係留索
の張力変位量を計測し、この計測値を船舶の変位量に換
算するようにしてもよい。このように船舶の変位量を計
測した後は、この変位量が船舶への作業に支障が無いレ
ベルかを操作判断部にて判断する。この判断はあらかじ
め船舶の限度変位量を操作判断部に記録させておき、こ
の値と計測された船舶の変位量とを所定の時間間隔で逐
次比較すればよい。A sensor is provided on the ship to measure the magnitude and direction of the motion, the sensor measures a reference point, and the displacement of the ship with respect to the reference point is calculated over time. Note that G is used to detect the magnitude and direction of the motion.
A distance measuring device such as a PS may be used. Alternatively, a sensor may be provided on the mooring line, and the sensor may measure the amount of tension displacement of the mooring line due to shaking, and convert the measured value to the amount of displacement of the ship. After measuring the displacement amount of the ship in this way, the operation determining unit determines whether the displacement amount does not hinder the work on the ship. For this determination, the limit displacement amount of the ship is recorded in advance in the operation determination unit, and this value and the measured displacement amount of the ship may be sequentially compared at predetermined time intervals.
【００１２】そして操作判断部にて船舶の変位量の大き
さが限度変位量を越えたと判断すると、その変位量を低
減させるために、船舶に外力を作用させる。ここで船舶
に加える外力を船舶推進機による推進力もしくは係留索
巻取装置による張力とすれば、新たな動力源を船舶に設
ける必要が無い。そして船舶に加える推進力もしくは張
力の大きさは制御部によって決定される。すなわち制御
部に船舶の変位量が入力されるとその変位量および変位
速度に応じた指令信号が出力され、この指令信号により
推進機や係留索巻取装置が動作する。そしてこれら推進
機や係留索巻取装置が動作することで動揺時の減衰力を
増加させたり、あるいは係留索の張力自体を変更し同調
作用を抑えたりして、船舶の動揺を抑制することができ
る。When the operation judging section judges that the magnitude of the displacement of the boat exceeds the limit displacement, an external force is applied to the boat in order to reduce the displacement. Here, if the external force applied to the ship is the propulsion force of the ship propulsion device or the tension of the mooring line winding device, it is not necessary to provide a new power source to the ship. Then, the magnitude of the propulsion force or the tension applied to the ship is determined by the control unit. That is, when the displacement amount of the vessel is input to the control unit, a command signal corresponding to the displacement amount and the displacement speed is output, and the propulsion device and the mooring line winding device operate according to the command signal. By operating these propulsion devices and the mooring line winding device, it is possible to increase the damping force at the time of swaying, or change the tension itself of the mooring line to suppress the synchronizing action, thereby suppressing the swaying of the ship. it can.
【００１３】[0013]
【発明の実施の形態】以下に、本発明に係る係留船舶の
動揺抑制方法および装置の好ましい実施の形態を、添付
図面に従って詳細に説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the method and apparatus for suppressing the motion of a moored ship according to the present invention will be described below in detail with reference to the accompanying drawings.
【００１４】図１は実施の形態に係る係留船舶の動揺抑
制装置を搭載した船舶が岸壁に係留されている状態を示
す説明図である。同図に示すように船舶１０が停泊し、
岸壁１２に係留させるためには係留索１４が用いられ
る。当該係留索１４の種類には、船首部および船尾部と
をそれぞれ岸壁に係留するヘッドライン１４Ａとスター
ンライン１４Ｂ、船舶１０の長手方向移動を防ぐスプリ
ングライン１４Ｃ、船舶１０の幅方向移動を防ぐブレス
トライン１４Ｄとが存在し、その先端は岸壁１２に設け
られた係留アンカ１６（図中８箇所）に取り付けられ
る。FIG. 1 is an explanatory view showing a state in which a ship equipped with a device for suppressing the motion of a moored ship according to an embodiment is moored on a quay. As shown in FIG.
A mooring line 14 is used to moor the quay 12. The types of the mooring lines 14 include a headline 14A and a sternline 14B for mooring the bow and stern to the quay, a spring line 14C for preventing the longitudinal movement of the vessel 10, and a breast for preventing the vessel 10 from moving in the width direction. There is a line 14D, and the tip is attached to a mooring anchor 16 (eight places in the figure) provided on the quay 12.
【００１５】船舶１０の甲板には係留索１４を個別に巻
取可能とする係留索巻取装置１８が設けられている。そ
して係留索１４の先端側を岸壁１２側の係留アンカ１６
に取り付けた後、係留索巻取装置１８を駆動させ船舶１
０と岸壁１２との間の係留索１４のたるみを取り除き、
船舶１０が岸壁１２から離れるのを防止している。A mooring line winding device 18 is provided on the deck of the ship 10 so that the mooring line 14 can be individually wound. Then, the tip side of the mooring cable 14 is connected to the mooring anchor 16 on the quay 12 side.
, The mooring line winding device 18 is driven to
Remove the slack in the mooring line 14 between the quay 12 and
The ship 10 is prevented from leaving the quay 12.
【００１６】また同じく船舶１０の甲板にはセンサとな
るビデオトラッカー装置２０が設けられている。当該ビ
デオトラッカー装置２０とは、撮影対象物をビデオカメ
ラ２１にて撮影することで両者間の変位を検出可能とす
るものであり、これを船舶１０に搭載し、岸壁１２の適
当な位置に固定した標識や光源２３を撮影することで船
舶１０と岸壁１２との変位を検出できるようになってい
る。ここで本実施の形態では岸壁１２に対する船舶１０
の変位をビデオトラッカー装置２０にて検出することと
したが、これは一例であって他にも、例えばビデオトラ
ッカー装置２０に置き換えて光波式距離測定装置、ある
いはＧＰＳなどの測距装置を用いるようにしてもよい。
ここで光波式距離測定装置を用いた場合では、船舶１０
にビデオカメラ２１の代わりに光波発生装置を搭載し、
岸壁１２の適当な位置に固定した光波反射板からの反射
光を計測し、船舶１０と岸壁１２との変位を検出する。Also, a video tracker device 20 serving as a sensor is provided on the deck of the boat 10. The video tracker device 20 detects the object to be photographed with a video camera 21 so that the displacement between the two can be detected. The video tracker device 20 is mounted on the ship 10 and fixed at an appropriate position on the quay 12. The displacement between the ship 10 and the quay 12 can be detected by photographing the sign or the light source 23. Here, in the present embodiment, the ship 10
The video tracker device 20 is used to detect the displacement of the video tracker device 20. However, this is merely an example. For example, a lightwave distance measuring device or a distance measuring device such as a GPS may be used instead of the video tracker device 20. It may be.
Here, in the case where the lightwave distance measuring device is used, the ship 10
Equipped with a light wave generator in place of the video camera 21,
The displacement of the ship 10 and the quay 12 is detected by measuring the reflected light from the light wave reflector fixed at an appropriate position on the quay 12.
【００１７】ビデオトラッカー装置２０によって得られ
た岸壁１２に対する船舶１０の変位量は、当該船舶１０
に設けられた制御部２４の中の操作判断部２６へと入力
される。当該操作判断部２６には、船舶１０への荷役作
業に支障の無い設定値があらかじめ記録されており、ビ
デオトラッカー装置２０から入力された変位量がこの設
定値に対して上回っているか否かの判断ができるように
なっている。また制御部２４は船舶１０の推進機２２に
接続されており、操作判断部２６にて変位量が設定値を
越えていると判断した際には、入力された変位量に対応
する指令信号を算出するとともに、これを推進機２２に
送り出し当該推進機２２はスクリュー２８を回転させ、
船舶１０に発生した変位量を打ち消す方向に外力を加え
られるようにしている。The displacement of the ship 10 with respect to the quay 12 obtained by the video tracker device 20 is
Is input to the operation determination unit 26 in the control unit 24 provided in the control unit 24. In the operation determination unit 26, a set value that does not hinder the cargo handling work on the boat 10 is recorded in advance, and whether the displacement amount input from the video tracker device 20 exceeds this set value is determined. You can make decisions. Further, the control unit 24 is connected to the propulsion device 22 of the boat 10, and when the operation determination unit 26 determines that the displacement amount exceeds the set value, the control unit 24 outputs a command signal corresponding to the input displacement amount. While calculating, this is sent to the propulsion device 22, and the propulsion device 22 rotates the screw 28,
An external force can be applied in a direction to cancel the displacement amount generated in the boat 10.
【００１８】このような動揺抑制装置を搭載した船舶に
動揺が生じた場合、これを抑制させる手順を説明する。
通常、港内に進入してくる波の周期は、係留した船舶１
０の長手方向の動揺の固有周期よりも小さいことから、
船舶１０に発生する動揺は小さい。しかし台風等により
海面にうねりなどが発生すると港内に長周期の波が進入
してくる。そして港内に進入した長周期波が係留した船
舶１０の固有周期に近くなると、波高は小さくても、船
舶１０は同調作用により大きな動揺が生じる。A procedure for suppressing the sway of a ship equipped with such a sway suppression device will be described.
Normally, the period of the waves entering the port depends on the moored ship 1
0, which is smaller than the natural period of oscillation in the longitudinal direction.
The sway generated in the ship 10 is small. However, when the sea surface swells due to a typhoon or the like, long-period waves enter the port. When the long-period wave that has entered the harbor approaches the natural period of the moored ship 10, the ship 10 is largely shaken by the tuning action even if the wave height is small.
【００１９】図２は、動揺抑制装置を作動させる手順を
示したフローチャートを示す。同図に示すように船舶１
０では、停泊している港周囲の海面状態や天気予報から
の情報に応じてビデオトラッカー装置２０を作動させ
（ステップ１００、１２０）、岸壁１２に対する船舶１
０の変位量を監視する。そして長周期波による力が船舶
１０に作用し、当該船舶１０の変位量が操作判断部２６
に記録された設定値を上回ったと判断すると（ステップ
１４０）、制御部２４にて入力された変位量に対応する
指令信号を算出する（ステップ１６０）。この指令信号
の算出原理を以下に示す。FIG. 2 is a flowchart showing a procedure for operating the motion suppression device. As shown in FIG.
At 0, the video tracker device 20 is operated according to the sea surface condition around the berthed port and information from the weather forecast (steps 100 and 120), and the ship 1
The displacement of 0 is monitored. Then, the force of the long-period wave acts on the ship 10, and the displacement of the ship 10 is
When it is determined that the set value is exceeded (step 140), the control unit 24 calculates a command signal corresponding to the displacement input (step 160). The principle of calculating this command signal will be described below.
【００２０】船舶１０は係留索１４によってある一定以
上の張力（係留力）で岸壁１２に係留されている。ここ
で係留された船舶１０の長手方向の運動方程式は、係留
索１４の作用が線形であるとすると、動揺の長周期成分
について以下の式で表される。The ship 10 is moored to the quay 12 by a mooring line 14 at a certain tension or more (mooring force). Here, the equation of motion of the moored vessel 10 in the longitudinal direction is expressed by the following equation with respect to the long-period component of the motion, assuming that the function of the mooring line 14 is linear.
【数１】 (Equation 1)
【００２１】ここでＸは船舶の長周期動揺変位、Ｆは波
や風によって船に作用する長周期外力、Ｍは船舶の見掛
質量、Ｎは減衰力、Ｋは係留力を示す。また上式より動
揺の周波数応答関数は以下の式で表される。Here, X is a long-period oscillating displacement of the ship, F is a long-period external force acting on the ship by waves or wind, M is an apparent mass of the ship, N is a damping force, and K is a mooring force. From the above equation, the frequency response function of the fluctuation is expressed by the following equation.
【数２】 (Equation 2)
【００２２】ここでＸAは船舶動揺時の振幅、ＦAは波や
風によって船に作用する力の振幅、ωは波や風によって
船に作用する力の変動円周波数を示し、図３は係留した
船舶の動揺特性を示すグラフである。また同図における
動揺の固有周期は以下の式で表される。Here, X A is the amplitude when the ship is shaking, F A is the amplitude of the force acting on the ship by waves and winds, ω is the fluctuation circular frequency of the force acting on the ships by waves and winds, and FIG. 5 is a graph showing the swaying characteristics of a moored ship. In addition, the natural period of the oscillation in the figure is represented by the following equation.
【数３】 (Equation 3)
【００２３】ビデオトラッカー装置２０にて検知される
変位量を抑えるためには動揺の減衰力を大きくするか、
船舶１０の固有周期を長周期波の周期から離すようにす
ればよい。すなわち船舶１０に発生した動揺を抑えるの
に用いる外力を、船舶１０の動揺に基づいて発生させ
る。この動揺を抑える外力を以下の式に示す。In order to suppress the amount of displacement detected by the video tracker device 20, the vibration damping force should be increased,
What is necessary is just to make the natural period of the ship 10 away from the period of the long-period wave. That is, the external force used to suppress the sway generated in the boat 10 is generated based on the sway of the boat 10. The following formula shows the external force that suppresses this fluctuation.
【数４】 (Equation 4)
【００２４】ここでＦCは船舶１０に作用する外力、Ｃ1
とＣ2は制御用の特性値を示す。そしてこの外力が船舶
１０に作用することから、動揺の長周期成分についての
運動方程式は以下の式で示される。Here, F C is an external force acting on the ship 10, C 1
And C 2 indicates a characteristic value for the control. Since this external force acts on the ship 10, the equation of motion for the long-period component of the motion is represented by the following equation.
【数５】 となり上式を整理すると、(Equation 5) When rearranging the above formula,
【数６】 と示される。これにより動揺時の速度に対する制御力は
減衰力に比例する力となり、動揺の変位に対する力は復
原力に比例する力となる。従って船舶１０の動揺の状態
に基づいて発生させた外力を船舶１０に作用させること
により、大きな動揺を抑えることができる。実施の形態
では、この外力を推進機２２にて発生させるようにして
いる。(Equation 6) Is shown. As a result, the control force for the speed during the sway is a force proportional to the damping force, and the force for the displacement of the sway is a force proportional to the restoring force. Therefore, by applying an external force generated on the basis of the state of the sway of the marine vessel 10 to the marine vessel 10, large swaying can be suppressed. In the embodiment, the external force is generated by the propulsion device 22.
【００２５】ビデオトラッカー装置２０にて計測された
変位量は制御部２４に伝送され、当該制御装置２４にお
いて動揺の変位と動揺速度とが計算される。そして動揺
変位と動揺速度とから推進機２２を駆動するための制御
信号が計算される。この制御信号におけるゲイン設定を
以下に示す。The displacement measured by the video tracker device 20 is transmitted to the control unit 24, and the control unit 24 calculates the displacement of the motion and the speed of the motion. Then, a control signal for driving the propulsion device 22 is calculated from the swing displacement and the swing speed. The gain setting in this control signal is shown below.
【数７】 (Equation 7)
【００２６】ここで前述の通りＣ1とＣ2は制御用の特性
値を示しており、推進機２２の仕様および制御効果に応
じて調整すればよい。制御信号から推進機２２を駆動す
るための指令信号が出力され、推進機２２に取り付けた
スクリュー２８を動作させる（ステップ１８０、２０
０）。そしてこのスクリュー２８の動作により、船舶１
０の動揺を抑制するための制御力を発生させるようにし
ている。Here, as described above, C 1 and C 2 indicate characteristic values for control, and may be adjusted in accordance with the specifications of the propulsion device 22 and the control effects. A command signal for driving the propulsion device 22 is output from the control signal, and the screw 28 attached to the propulsion device 22 is operated (steps 180 and 20).
0). The operation of the screw 28 causes the ship 1
A control force for suppressing the fluctuation of zero is generated.
【００２７】具体的には図４に示すように、船舶１０の
動揺方向の反対方向に外力が発生するよう推進機２２の
推力発生方向を切換える（正転／逆転）。このように推
進機２２の駆動を制御すれば減衰力を増加させたり、係
留索１４につながれた船舶１０の固有周期を変化させる
ことができるので係留された船舶１０の動揺を抑えるこ
とができる。ここでスクリュー２８が可変ピッチ仕様で
あれば、このピッチを動揺周期にあわせて切換えるよう
にすればよい。また推進機２２の仕様によっては、回転
方向の切換時間が動揺周期よりも長くかかる場合があ
る。この場合には船舶１０が前方あるいは後方に動揺す
る場合のみスクリュー２８を片側方向に回転させ、船舶
１０が反対方向に動揺する場合にはスクリュー２８を停
止するようにしてもよい。More specifically, as shown in FIG. 4, the thrust generation direction of the propulsion device 22 is switched (forward rotation / reverse rotation) so that an external force is generated in the direction opposite to the direction in which the boat 10 rocks. By controlling the driving of the propulsion unit 22 in this manner, the damping force can be increased or the natural period of the boat 10 connected to the mooring line 14 can be changed, so that the motion of the boat 10 moored can be suppressed. If the screw 28 has a variable pitch, the pitch may be switched in accordance with the oscillation period. Further, depending on the specifications of the propulsion device 22, the switching time in the rotation direction may take longer than the oscillation period. In this case, the screw 28 may be rotated in one direction only when the boat 10 rocks forward or backward, and the screw 28 may be stopped when the boat 10 rocks in the opposite direction.
【００２８】なお本実施の形態では、船舶１０の変位量
をビデオトラッカー装置２０にて求めることとしたが係
留索１４に張力検出センサを取り付け、この値から変位
量を求めるようにしてもよい。これは船舶１０が動揺す
る際の係留索１４の張力変位と船舶１０の変位量とは計
算によって求められる関係があるので、張力（係留力）
の変化により算定をすることができる。また船舶１０が
幅方向に移動した場合には、船首側と船尾側との係留索
の張力は同時に増加あるいは減少するので、船首側と船
尾側との係留索の張力を計測しておけば、船舶１０にお
ける幅方向の変位量も求めることができる。In the present embodiment, the displacement of the boat 10 is determined by the video tracker device 20. However, a tension detection sensor may be attached to the mooring line 14, and the displacement may be determined from this value. This is because the tension displacement (mooring force) of the mooring line 14 and the displacement amount of the mooring line 14 when the ship 10 shakes have a relationship determined by calculation.
Can be calculated based on the change in Further, when the ship 10 moves in the width direction, the tension of the mooring lines on the bow side and the stern side increases or decreases at the same time, so if the tension of the mooring lines on the bow side and the stern side is measured, The displacement amount in the width direction of the boat 10 can also be obtained.
【００２９】また港内の制約などにより推進機２２を動
かせないときは、当該推進機２２のかわりに係留索巻取
装置１８を動作させ、係留索１４の張力を変動させるこ
とで船舶１０に発生する動揺を抑制させてもよい。通常
係留索１４の張力は一定に保たれているが、同調現象に
より船舶１０が大きく動揺した場合には制御装置２４の
指令信号に応じて係留索巻取装置１８を駆動させ、係留
索１４の張力を変動させれば、減衰力を増加させたり、
船舶１０の固有周期を変えることができ、船舶１０の動
揺を抑えることができる。ここで係留索１４には、ヘッ
ドライン１４Ａ、スターンライン１４Ｂ、スプリングラ
イン１４Ｃ、ブレストライン１４Ｄの４種類があるが、
どの係留索１４を巻取るようにするかは、船舶１０の係
留状態に応じて個別に決めればよい。例えば、ヘッドラ
イン１４Ａ側とスターンライン１４Ｂ側の係留索巻取装
置１８を駆動させ、船舶１０の動揺を抑制させるように
すれば、制御対象となる係留索巻取装置１８は２個とな
るので、制御部２４の構成を比較的簡単にすることがで
きる。また上記仕様とは逆にスプリングライン１４Ｃ側
のみを駆動させたり、あるいは両者を同時に駆動させ、
動揺に対する抑制力を大きくするようにしてもよい。さ
らに動揺の抑制中にブレストライン１４Ｄの係留索巻取
装置１８を駆動させれば、動揺の抑制中の船舶１０の姿
勢を岸壁１２に対して常に水平に保つことができる。な
お推進機２２と係留索巻取装置１８の両方を動作させて
も、船舶１０に発生する動揺を抑制できることはいうま
でもない。When the propulsion unit 22 cannot be moved due to restrictions in the harbor or the like, the mooring line winding device 18 is operated instead of the propulsion unit 22 and the tension of the mooring line 14 is changed to generate the watercraft 10. Sway may be suppressed. Normally, the tension of the mooring cable 14 is kept constant. However, when the ship 10 is greatly shaken due to the synchronization phenomenon, the mooring cable winding device 18 is driven in accordance with a command signal of the control device 24, and the mooring cable 14 is By changing the tension, you can increase the damping force,
The natural period of the boat 10 can be changed, and the fluctuation of the boat 10 can be suppressed. Here, there are four types of the mooring line 14, a head line 14A, a stern line 14B, a spring line 14C, and a breast line 14D.
Which mooring line 14 is to be wound may be determined individually according to the mooring state of the ship 10. For example, if the mooring rope winding devices 18 on the head line 14A side and the stern line 14B side are driven to suppress the motion of the boat 10, the number of mooring rope winding devices 18 to be controlled becomes two. , The configuration of the control unit 24 can be relatively simplified. Also, contrary to the above specification, only the spring line 14C side is driven, or both are simultaneously driven,
You may make it increase the suppression force with respect to a motion. Further, if the mooring line winding device 18 of the breast line 14D is driven during the suppression of the sway, the attitude of the ship 10 during the suppression of the sway can be always kept horizontal with respect to the quay 12. It is needless to say that even when both the propulsion device 22 and the mooring line winding device 18 are operated, the sway generated in the boat 10 can be suppressed.
【００３０】[0030]
【発明の効果】以上説明したように本発明によれば、船
舶に発生する長手方向の変位量もしくは係留索の張力を
検知し、これら検知量があらかじめ設定した値を越えた
際には前記検知量に応じた打消外力を前記船舶に作用さ
せたことから、係留設備や船舶への損傷を防ぐとともに
荷役中止や沖待ちによる荷役作業の遅延等を防止するこ
とができる。As described above, according to the present invention, the amount of displacement in the longitudinal direction or the tension of the mooring line generated in a ship is detected, and when the detected amount exceeds a preset value, the detection is performed. Since the counteracting external force according to the amount is applied to the ship, it is possible to prevent damage to the mooring equipment and the ship, and also to prevent a delay in the cargo handling work due to suspension of cargo handling or waiting offshore.
【図１】実施の形態に係る係留船舶の動揺抑制装置を搭
載した船舶が岸壁に係留されている状態を示す説明図で
ある。FIG. 1 is an explanatory diagram showing a state in which a ship equipped with a motion suppression device for a moored ship according to an embodiment is moored on a quay.
【図２】動揺抑制装置を作動させる手順を示したフロー
チャートを示す。FIG. 2 is a flowchart showing a procedure for operating the motion suppression device.
【図３】係留した船舶の動揺特性を示すグラフである。FIG. 3 is a graph showing the fluctuation characteristics of a moored ship.
【図４】船舶１０の動揺方向に応じて推進機２２の回転
方向を切換える状態を示す説明図である。FIG. 4 is an explanatory diagram showing a state in which the rotation direction of the propulsion device 22 is switched according to the swing direction of the boat 10.
【図５】従来の係留状態を示した説明図である。FIG. 5 is an explanatory view showing a conventional mooring state.
１ 船舶 ２ 岸壁 ３ 係留索 ４ 係留アンカ １０ 船舶 １２ 岸壁 １４ 係留索 １４Ａ ヘッドライン １４Ｂ スターンライン １４Ｃ スプリングライン １４Ｄ ブレストライン １６ 係留アンカ １８ 係留索巻取装置 ２０ ビデオトラッカー装置 ２１ ビデオカメラ ２２ 推進機 ２３ 標識や光源 ２４ 制御部 ２６ 操作判断部 ２８ スクリュー DESCRIPTION OF SYMBOLS 1 ship 2 quay 3 mooring line 4 mooring anchor 10 ship 12 quay 14 mooring line 14A headline 14B stern line 14C spring line 14D breast line 16 mooring anchor 18 mooring line winding device 20 video tracker device 21 video camera 22 propulsion device 23 sign And light source 24 control unit 26 operation determination unit 28 screw
───────────────────────────────────────────────────── フロントページの続き (72)発明者 森谷 周行 東京都昭島市つつじが丘１丁目１番50号 株式会社三井造船昭島研究所内 (72)発明者 中川 寛之 東京都昭島市つつじが丘１丁目１番50号 株式会社三井造船昭島研究所内 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor: Around Moriya 1-1-50, Tsutsujigaoka, Akishima-shi, Tokyo Inside Mitsui Engineering & Shipbuilding Akishima Research Institute Co., Ltd. (72) Hiroyuki Nakagawa 1-1-50, Tsutsujigaoka, Akishima-shi, Tokyo No.Mitsui Shipbuilding Akishima Research Laboratory Co., Ltd.
Claims (4)
は係留索の張力を検知し、これら検知量があらかじめ設
定した値を越えた際には前記検知量に応じた打消外力を
前記船舶に作用させることを特徴とする係留船舶の動揺
抑制方法。1. A longitudinal displacement amount generated in a ship or a mooring line tension is detected, and when these detected amounts exceed a predetermined value, a counteracting external force corresponding to the detected amount is applied to the ship. A method for suppressing motion of a moored ship.
は前記係留索の張力であることを特徴とする請求項１に
記載の係留船舶の動揺抑制方法。2. The method according to claim 1, wherein the external force is a propulsive force of the ship or a tension of the mooring line.
舶長手方向の変位量を検知するとともに、制御部に設け
た操作判断部にて前記変位量とあらかじめ設定した値と
を比較し、前記変位量が前記あらかじめ設定した値を越
えた際には、前記制御部にて前記船舶の推進機を動作さ
せ、前記変位量に応じた打消外力を前記船舶に作用させ
ることを特徴とする係留船舶の動揺抑制方法。3. After the occurrence of a long-period wave or the like is predicted, the displacement in the longitudinal direction of the vessel is detected, and the displacement is compared with a preset value by an operation determination unit provided in the control unit. When the amount of displacement exceeds the preset value, the control unit operates the propulsion device of the ship, and applies a counteracting external force to the ship in accordance with the amount of displacement. A method for suppressing the motion of a moored ship.
は係留索の張力を検知するセンサと、このセンサからの
検知量に応じて前記船舶の推進機もしくは係留索巻取装
置を操作可能とする制御部とを前記船舶に備えるととも
に、前記制御部には前記検知量をあらかじめ設定した値
と比較する操作判断部を設けたことを特徴とする係留船
舶の動揺抑制装置。4. A sensor for detecting an amount of longitudinal displacement or a tension of a mooring line generated in a ship, and a propulsion device or a mooring line winding device of the ship can be operated according to the detected amount from the sensor. A motion suppression device for a moored ship, comprising: a control unit provided in the ship; and an operation determining unit that compares the detection amount with a preset value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP31277897A JPH11129978A (en) | 1997-10-29 | 1997-10-29 | Oscillation restraining method of moored ship and device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP31277897A JPH11129978A (en) | 1997-10-29 | 1997-10-29 | Oscillation restraining method of moored ship and device thereof |
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| Publication Number | Publication Date |
|---|---|
| JPH11129978A true JPH11129978A (en) | 1999-05-18 |
Family
ID=18033300
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP31277897A Pending JPH11129978A (en) | 1997-10-29 | 1997-10-29 | Oscillation restraining method of moored ship and device thereof |
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