Method of control of moving article
 Water-jet thruster / 2248915Proposed water-jet thruster has water scoop, axial-flow pump with T-piece located behind it and provided with curvilinear blades secured turnably for shutting-off one of outlet passages. When blades shut-off one of outlet passages, their convex surfaces are directed towards other of them. Each blade is made in form of wing on side of pump and bent plate following it. When outlet passage is open, wings are located at angle relative to incoming flow. Upper surface of wing is directed towards opposite side; lower surface of wing is provided with artificial roughness. |
 Ship automatic control system / 2248914Proposed system includes heading sensor and setter, angular velocity sensor and aft rudder sensor whose outputs are connected to inputs of first adder-amplifier whose output is connected with input of steering gear of aft rudders; system is also provided with drift sensor and fore rudder sensor whose output is connected with first input of adder-amplifier. Besides that, system is provided with lateral displacement sensor and setter, permissible drift setter and logic unit containing algebraic adder, adder of modules of two signals, diode and electromagnetic relay with two make and break contact groups. |
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Method of indication of ship motion parameters / 2248576 Proposed method includes presentation of ship motion parameters in heading, list, trim and rates of their change on linear scales of autopilots. Rates of change of said parameters are additionally indicated by moving line of geometric signs whose direction and speed of motion are proportional to rate and direction of change of respective parameter. As soon as critical magnitudes of rate of change of parameters in heading, list and trim are achieved, neutral color of geometric signs smoothly changes to color warning critical parameters. |
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Method of indication of ship motion parameters / 2248576 Proposed method includes presentation of ship motion parameters in heading, list, trim and rates of their change on linear scales of autopilots. Rates of change of said parameters are additionally indicated by moving line of geometric signs whose direction and speed of motion are proportional to rate and direction of change of respective parameter. As soon as critical magnitudes of rate of change of parameters in heading, list and trim are achieved, neutral color of geometric signs smoothly changes to color warning critical parameters. |
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Ship automatic control system / 2248914 Proposed system includes heading sensor and setter, angular velocity sensor and aft rudder sensor whose outputs are connected to inputs of first adder-amplifier whose output is connected with input of steering gear of aft rudders; system is also provided with drift sensor and fore rudder sensor whose output is connected with first input of adder-amplifier. Besides that, system is provided with lateral displacement sensor and setter, permissible drift setter and logic unit containing algebraic adder, adder of modules of two signals, diode and electromagnetic relay with two make and break contact groups. |
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Water-jet thruster / 2248915 Proposed water-jet thruster has water scoop, axial-flow pump with T-piece located behind it and provided with curvilinear blades secured turnably for shutting-off one of outlet passages. When blades shut-off one of outlet passages, their convex surfaces are directed towards other of them. Each blade is made in form of wing on side of pump and bent plate following it. When outlet passage is open, wings are located at angle relative to incoming flow. Upper surface of wing is directed towards opposite side; lower surface of wing is provided with artificial roughness. |
 Method of control of moving article / 2263606Proposed method includes selection of point of control, determination of lateral displacement from preset trajectory to point of control and taking it into account in shifting the rudder. Use is also made of additional point of control; both points of control are lie in ship's CL: one in the bow and one in the stern. Shifting the rudder is performed depending on combination of lateral displacement of fore and aft points from preset trajectory; displacement of these points is calculated by their coordinates. It is good practice to measure coordinates of fore and aft points by means of satellite navigation system. Coordinates of fore and aft points may be measured at differential corrections. |
 Device for control of ship with diagnosis / 2267440Proposed device includes trim angle sensors, angular velocity sensors, rudder sensors and trim angle setter whose outputs are connected to first, second, third and fourth inputs of summing-up amplifier whose output is connected with steering gear input. Command unit output is connected with inlet valve of ballast tank through program unit. Device is provided with summing-up amplifier model, steering gear model, program unit model, ballast tank model, ship model, fast time ship model and first-fifth failure indicators. First and second inputs of first failure indicator are connected respectively with summing-up amplifier outputs and with output of summing-up amplifier model. First and second inputs of second failure indicator are connected respectively with steering gear output and steering gear model output. First and second inputs of third failure indicator are connected respectively with outlet valve of ballast tank and outlet valve of ballast tank model. First and second inputs of fourth failure indicator are connected respectively with output of angular velocity sensor and with ship model output whose first and second inputs are connected respectively with outlet valve of ballast tank and output of steering gear model whose input is connected with output of summing-up amplifier model. First and second inputs of fifth failure indicator are connected respectively with output of fast-time ship model and with output of failure indicator setter; outputs of failure indicator sensor, failure indicator setter, angular velocity sensor and rudder position sensor are connected respectively to first, second, third and fourth inputs of summing-up amplifier model; outputs of failure indicator sensor, angular velocity sensor and ballast tank outlet valve are connected respectively to first, second and third inputs of fast-time ship model whose fourth input is connected with first output of program unit model whose second output is connected with inlet valve of ballast tank model. |
 Turn of propulsive plant / 2267441Proposed shipboard propulsive plant includes gondola located outside ship's hull, equipment for rotation of propeller connected with gondola and shaft unit connected with gondola for turning it relative to ship's hull. Turn of shaft unit relative to ship's hull is performed by at least one hydraulic motor provided with units for change of delivery per revolution. |
 Auto-pilot at estimation of angular velocity / 2269451Proposed auto-pilot includes course angle setter, rudder angle sensor, two antennae, satellite navigational system receiver, steering gear, integrator, differentiator and adder. It is additionally provided with angular velocity sensor, re-tuning unit, multiplier and running speed square sensor. |
 Hydrodynamic wing (versions) / 2270128According to first version, hydrodynamic wing is made along span with biconvex profiles, either symmetrical or non-symmetrical; outlines of upper and lower contours of each profile are expressed in form of functions whose derivatives are bounded functions in chord length. Maximum thickness of each profile is located after center of each local chord at distance not exceeding 0.01b and is equal to (0.05-0.3)b, where b is length of local chord of profile. According to second version, wing has one blade or two blades connected at end faces. Each blade is trapezoidal in shape and is mounted for turn relative to center line running through centers of local chord. During motion, wing perceives incoming flow at low resistance to motion due to availability of sharp edges and selection of optimal profile; during turn of blade through preset angle of attack relative to incoming flow, reduced hydrodynamic hinge moment is ensured at turn of ship to required side. |
 Steering gear of small-sized ship / 2276648Proposed steering gear has tiller and rudder blade secured on axle in blade box for turning in vertical plane. End of tiller is connected with rudder blade by means of axle; end of at least one spring is secured on the same end of tiller; other end of this spring is secured in lower part of blade box where thrust roller is mounted for engagement with tiller. Rudder blade box is mounted in aft section of ship by means of hinges for turn in horizontal plane; tiller may be made from two parts located on outer sides of blade box. |
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Steering gear of small-sized ship / 2276648 Proposed steering gear has tiller and rudder blade secured on axle in blade box for turning in vertical plane. End of tiller is connected with rudder blade by means of axle; end of at least one spring is secured on the same end of tiller; other end of this spring is secured in lower part of blade box where thrust roller is mounted for engagement with tiller. Rudder blade box is mounted in aft section of ship by means of hinges for turn in horizontal plane; tiller may be made from two parts located on outer sides of blade box. |
FIELD: water transport; control of moving articles, ship for example at use of lateral displacement of two points.
SUBSTANCE: proposed method includes selection of point of control, determination of lateral displacement from preset trajectory to point of control and taking it into account in shifting the rudder. Use is also made of additional point of control; both points of control are lie in ship's CL: one in the bow and one in the stern. Shifting the rudder is performed depending on combination of lateral displacement of fore and aft points from preset trajectory; displacement of these points is calculated by their coordinates. It is good practice to measure coordinates of fore and aft points by means of satellite navigation system. Coordinates of fore and aft points may be measured at differential corrections.
EFFECT: improved quality of control; enhanced accuracy of keeping the object at preset trajectory.
3 cl, 4 dwg
The invention relates to the management of a moving object, such as a vessel, when travelling on a given in-plane trajectories and relates to automatic steering using the transverse displacements of the two points of the vessel.
Known methods of control of the moving objects, such as the courts, the magnitude of the transverse displacement of one point of the vessel from the desired trajectory (SU 509494. 63 N 25/00; SU 1062129 And, 63 N 25/00; SU 908656, B 63 H 25/00; SU 724389, 63 N 25/04).
The disadvantages of this method are, first, the impossibility of accurately keeping the vessel on a given trajectory, but only its movement along parallel trajectories, located on the particular largest distance from the predetermined trajectory, depending on the size of the deletion, the so-called (SU 509494, 63 N 25/00) control point from the sensor transverse displacement; the farther removed the control point from the sensor transverse displacement in the direction of the course of a managed object, such as a ship, the less the deviation of the actual trajectory from the desired trajectory.
Secondly, the management point, the transverse displacement which manage the moving object, usually located outside the contour of the managed object that makes the necessary calculations its transverse displacement from the predetermined trajectory and, as the result is s, quality control is getting worse; the displacement of the control points within the circuit of the controlled object, not eliminating the need of calculations would lead to a significant decrease in the accuracy of retention of the controlled object on the given trajectory, in particular, because of the loss of stability of motion control (Persic RA control and management of a vessel. - Leningrad: Sudostroenie, 1983, 272 C.). Thirdly, in determining the value of the transverse displacement of the control point with the given trajectory into account the value of the ship's course, the accuracy of which ±2,0°and with the rapid change of course ±4,0°in this regard, in the means of achieving quality control occurs a contradiction: on the one hand, the further a point is from the sensor, lateral offset, the closer the real trajectory of the controlled object, for example a vessel, for a given trajectory, on the other hand, the farther the point is from the management Board in the direction the ship's course from the sensor, lateral offset, the less the accuracy of determining the transverse displacement of the control point and, as a consequence, the decline in the quality control.
The closest analogue of the claimed invention is the following method of control of the moving object (A.S. USSR №509494, M. CL. - 2 63 N 25/00 " Method of control of the moving object", Appl. 04.03.74, publ. 05.04.7, the authors Persic RA, Tumasik A.P.). The method of control of the moving object along the transverse offset is that the lateral displacement from the predetermined trajectory and the top of the vessel to the direction of the last measured by a special sensor and by automated calculation determine the lateral offset of the pre-selected point along the length of the object, which reported the helmsman. Relining steering is the steering, which takes into account only the transverse displacement of the selected point.
The method is quite simple and relatively accurate in keeping the object at the specified path. However, the accuracy of the retention vessel at the predetermined trajectory still not as high as required by modern conditions of navigation. In addition, this method has all of the above drawbacks of such a method of control of the moving object. The purpose of the invention is to improve the accuracy of holding the object on a predetermined trajectory and improving the quality of governance, expressed, for example, the number of switches of the governing body (steering) per unit time.
This is achieved by the fact that within the contour of the vessel, in its median plane (DP) select two points, one of which is located to the nose of the ship (point a in figure 1-4), and the other to the stern of the vessel (point b In figure 1-4) relative to the plane of the middle frame. The distance between the points is and choose depending on the technical possibilities for accommodation at these points receiving antennas satellite navigation system (SNS). The greater this distance, the better the operation of the control system of the ship motion on a given path.
The coordinates of these points are determined continuously with high accuracy (±1.0 m), it became possible with the introduction of SNA coast station computes and transmits to the vessel differential corrections.
Coordinate values make it possible to continuously calculate the transverse displacement of point a (YAand the point In the (YBfrom the given trajectory. Moreover, the transverse displacement of a point from the given trajectory is considered positive if it moves to the right, and negative if it moves to the left (see Fig.1-4).
Transverse bias is produced a signal to the deviation of the steering body, for example, steering the ship, according to the law:
where kA, kBthe gain on the transverse displacement of the fore and aft points of the vessel from the desired trajectory. This is a positive value, and kAmore kB. The rudder angle α it is considered positive when it is moved to the starboard side.
Figure 1-4 shows the major options for possible deviations of the vessel 1 from the target path 2 and the control in each of them (the rudder angle 3). For example, in figure 1, 2 DP vessel 4 crosses a predetermined trajectory 2 at a certain angle, the value of which features is characterized by the values of the transverse displacement of point a (Y Aand the point In the (YB), and YAgreater than 0, YBless than 0 to 1 and YAless than 0, YBgreater than 0 in figure 2. In the first case (see figure 1.) according to the law (1) the deflection angle of the steering wheel will have a negative value, i.e. the wheel will be passed on the port side and the ship starts turning to the left, which will lead to the reduction of YAand YBand, ultimately, to the exit of the vessel trajectory; in the second case (figure 2) according to the law (1) the deflection angle of the steering wheel will have a positive value, i.e. the wheel will be shifted to starboard and the ship will turn to the right, which will lead to the reduction of YA, YBto exit the vessel at the specified path.
Figure 3, 4 DP vessel 4 does not intersect the predetermined path 2, and the transverse displacement of the points a, b have the same signs, positive 3 and negative in figure 4. The sign and the appropriate direction, rudder angle depends on the ratio of the values of the coefficients kAand kB(kAmore kBif the signs of the transverse displacements of points a and b are the same, 3,4; kAand kBwill be equal in magnitude, if the signs of the transverse displacements of points a and b are opposite, 1, 2). The ratio of the values of the coefficients kAkBcan be selected from a variety of reasons. For example, if we assume that the deviation of the direction of movement of the vessel from a specified bude order to be within ± 90°, then this ratio will be determined by the expression:
where l is the distance between points a and B.
As a result of application of the present invention is achieved by the possibility of obtaining a technical result improved quality control and accuracy of the hold of the ship on a given trajectory, therefore, the proposed method of control of the moving object meets the criteria of patentability "industrial applicability".
1. The method of control of the moving object, such as a vessel, the magnitude of the transverse displacement of the ship from the predetermined trajectory, which selects a control point, determining the magnitude of the transverse displacement from the predetermined trajectory to the point of control and consider it when relaying steering, characterized in that use an additional control point, two control points are placed on the median plane of the ship, and one of them is the fore and the other aft, and relaying steering is produced depending on the combination of the transverse displacement of the bow and stern points from the target path, and to calculate the displacement of these points using their coordinates.
2. The method according to claim 1, characterized in that the coordinates of the bow and stern points measured with the aid of satellite navigation systems.
3. The method according to claim 2, from which causesa fact, the measurement of the coordinates of the bow and stern points carried out with differential corrections.