Method of controlling vessel movement of object when it approaches another moving vessel

FIELD: shipbuilding.

SUBSTANCE: invention relates to water transport facilities, particularly, to control of vessel movement effected on approaching another moving vessel. In compliance with the proposed method, a preset point on a plane in a direction of approach with the other moving object and centre of gravity of a vessel are used. Coordinates of the preset point are defined and coordinates of the vessel centre of gravity is computed. The data resulted are used to define the position of approach trajectory. The coordinates of the bow and stern points to use them for computing crosswise displacement of aforesaid bow and stern points from the determined position of the approach trajectory to put the rudder over depending upon the combination of these displacements.

EFFECT: higher accuracy of holding vessel on approach trajectory, higher quality of control.

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The invention relates to water transport and for the control of the moving object in the execution of his rapprochement with other movable object, such as a vessel, the magnitude of the transverse displacements of the two points of the vessel.

The known method and device to control movement of the vessel when performing convergence along a given trajectory (A.S.№1295935, №1367730, №1424538), based on the relaying of the rudder of a vessel that performs the approximation, the magnitude of the deviation of the current value of the course angle at the given point (ST), as measured by shipboard radar station (radar), from the setpoint and course angle on the Mat. While the course and speed of methadone treatment, in this case, the notional point within the contour of smartaudio vessel have constant values during the execution of convergence.

However, in this method, control of the vessel performing the rapprochement with methadone, there are certain disadvantages that prevent you from using it in other cases the convergence of two objects, such as ship and methadone treatment:

- Methadone can be an object, not observed by radar, in particular, where ST is the underwater object or just a point in the plane with given coordinates, which should go a vessel engaged convergence, at the end of the route convergence;

- Methadone can be an object, not constantly observed by radar, for example, when the priest is offering methadone treatment in the shadow area of the radar station, and in an area of dense precipitation;

if convergence occurs under the influence of the sea on a vessel engaged in convergence with methadone, the accuracy of his retention on the given trajectory is significantly reduced, as measured by radar current heading angle ST will have a large error, commensurate with the value of the course angle, due to the yaw of the ship on the sea;

- the accuracy of the approximation depends on the technical properties of methadone as a physical object, for example because of its low reflectivity;

- on a vessel engaged in convergence with fixed ST, there are external factors (wind, current, sea state)whose parameters (direction, speed, and others), as a rule, it is difficult to determine quantitatively or not is difficult to identify because of their random nature, so the ship has a demolition with variable direction and speed, however, if we assume that ST is conventionally movable with conditional motion parameters (conditional speed, the conditional rate)equal to the parameters of the total demolition of the ship, but with the opposite sign, the token rate and the conditional rate ST will change the convergence process.

A known method of controlling the motion of an object, for example a vessel, the magnitude of the transverse displacement is located on the median plane of the ship aft and fore tocheat predetermined trajectory, when counting the transverse displacement of these points from the target path, to calculate the transverse displacements of the stern and the bow points using their coordinates, which are measured with the aid of satellite navigation systems and differential corrections, produce relaying steering depending on the combination of the transverse displacement of the bow and stern points (U.S. Pat. Of the Russian Federation No. 2263606, publ. 10.11.2005, VN 25/00). This method requires the presence of a known position of the trajectory, i.e. the presence of a given trajectory. Therefore, this method cannot be used to control the movement of the ship in the execution of his rapprochement with other movable object, as in the process of rapprochement with movable or conditionally movable object, such as with methadone, the trajectory is constantly changing its position on the plane, and in General, if the motion parameters (rate, speed) of the object, which carry out the convergence is unknown, the position of the trajectory cannot be calculated in advance. Therefore, the current values of the transverse displacements of the two points of the vessel from the current position of the trajectory cannot be calculated without determining its current position.

The technical result, which is aimed by the invention is to improve the accuracy of object retention on a path of convergence with other PADI is the principal object and the improvement of the quality management expressed in the reduction of the number of steering switches per unit time.

To achieve the technical result in the method of controlling a movable object in the execution of his rapprochement with other movable object by the values of the transverse displacements, located on the median plane of the ship's stern and the bow points from the trajectory at which the calculated lateral displacement of these points to calculate the transverse displacements of the stern and the bow points using their coordinates, which are measured with the aid of satellite navigation systems and differential corrections, produce relaying steering depending on the combination of the transverse displacement of the bow and stern points, in addition use the given point on the plane in the direction of convergence of the vessel with another mobile object and the center of gravity of the vessel, and through these points is the trajectory approximation, determine the coordinates of a given point, calculate the coordinates of the center of gravity of the vessel by the formulas:

Y_0G=Y_0A-[(Y_0A-Y₀)*(X_A-X_G)]/(X_A-X_In);

X_0G=X_OA-[(X_0A-X_0B)*(X_A-X_G)]/(X_A-X_In),

where X_Gthe abscissa of the center of gravity of the vessel in the coordinate system associated with the vessel;

X_And, X_Bthe abscissa, respectively, the nose point and the feed point in the coordinate system, associated with the vessel;

X_0A, Y_0Acoordinates of the nasal point in the fixed coordinate system;

X_0B, Y_0B- coordinates of the feed point in the fixed coordinate system,

then determine the position of the trajectory approximation based on the coordinates of the given point and the center of gravity, and then the transverse displacement of the stern and the bow points from the found position trajectory convergence.

When this set point can be mobile or conditionally mobile. The coordinates of a given point is measured using a satellite navigation system and with differential corrections.

Distinctive features of the proposed method from the above known closest to him, are the following: optionally use the given point on the plane in the direction of convergence of the vessel with another mobile object and the center of gravity of the vessel, and through these points is the trajectory approximation, determine the coordinates of a given point, calculate the coordinates of the center of gravity of the vessel by the formulas:

Y_0G=Y_0A-[(Y_0A-Y_0B)*(X_And-X_G)]/(X_And-X_B);

X_0G=X_0A-[(X_0A-X_0B)*(X_And-X_G)]/(X_A-X_B),

where X_Gthe abscissa of the center of gravity of the vessel in the coordinate system associated with the vessel;

X_And, X_B- ubsci the si, respectively, the nose point and the feed point in the coordinate system, associated with the vessel;

X_0A, Y_0Acoordinates of the nasal point in the fixed coordinate system;

X_0B, Y_0B- coordinates of the feed point in the fixed coordinate system,

then determine the position of the trajectory approximation based on the coordinates of the given point and the center of gravity, and then the transverse displacement of the stern and the bow points from the found position trajectory convergence.

When this set point can be mobile or conditionally mobile. The coordinates of a given point is measured using a satellite navigation system and with differential corrections. Due to the presence of these signs in the constantly changing position of the trajectory of convergence of the vessel with another moving object, it can be fixed at any given point in time, knowing the coordinates of the bow and stern points, continuously calculate the transverse displacement of these points from the found position trajectory convergence and produce relaying steering depending on the combination of these displacements, thus, increases the accuracy of keeping the vessel on a path of convergence with other movable object.

The proposed method is illustrated in the drawings, figure 1-4, where indicated:

1 - vessel 2 - trajectory approximation; 3 - wheel; 4 - median plane of the ship.

The convergence of the vessel with methadone can be about what westline, if in the process of rapprochement between the trajectory of the vessel that carries the rapprochement with methadone, will always pass through the Mat and the point within the contour of the vessel [1, 2] (figure 1), therefore changing the position of the trajectory of convergence in the plane can be fixed at any given point in time, continuously determining the coordinates of the two points through which the trajectory convergence. The first point is the point of installation of the ship receiving antenna of the satellite navigation system (SNS).

If the vessel is equipped with two antennas SNA, spaced along the length, then choose a notional point on the line segment between the points of installation of the nasal antenna SNA, point A, and the feed antenna SNA point, in particular, as the conditional point chosen in this case the center of gravity (CG) G vessel, as its position is accurately defined on the segment AB (figure 2). If in continuous mode, determine the coordinates of the points A(X_0A, Y_0A) and(X_0B, Y_0Bin the fixed coordinate system X₀-Y₀the coordinates of the center of gravity (CG) G vessel in the same coordinate system calculated by the formula:

where X_Gthe abscissa CG vessel in the coordinate system associated with the vessel;

X_And, X_Bthe abscissa of point a and b, respectively, in the same coordinating the Noah system.

The second point is methadone, that is the end point of route convergence.

If ST is stationary relative to the Earth and conditionally movable in the convergence process due to the demolition of the vessel, its coordinates will have fixed values that must be known on a vessel engaged in convergence with methadone, to calculate the position of a trajectory of convergence in continuous mode. In this case, the Mat can be either observed or not observed visually from the vessel.

If ST is in constant motion, to determine the position of the trajectory closer to the ship, carrying rapprochement with methadone, is continuously output the coordinates of ST transmitted in one way or another with the object, such as a vessel, within the contour of which is ST or object with which conventionally rigidly connected areas. For example, if the vessel carries a rapprochement with another vessel, the mooring of one vessel to the other vessel in the open sea), as ST can choose any point on the line that is parallel to the median plane (DP) smartaudio vessel within its length, at a certain specified distance from the DP and the outside contour smartaudio vessel.

When to get the coordinates of methadone on the ship, performing closer to her, from the outside it is impossible, they can be calculated using one of the known navigation with osobov determine the position of the object of convergence relative to the vessel. In particular, the position of the Mat relative to the vessel, carrying out convergence, and hence the coordinates of the ST can be defined by bearing and distance.

The proposed method is as follows. 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)and the other to the stern of the vessel (point b In figure 1) relative to the plane of the middle frame. The distance between points a and b is selected depending on the technical possibilities for accommodation at these points receiving antennas of the SNA. The greater this distance, the better the operation of the control system of the vessel is engaged in convergence with ST.

The coordinates of these points are determined continuously with high accuracy (±1.0 m), it became possible with the introduction of SNA coastal stations, calculating and transmitting to the vessel differential corrections [3]. Determine the coordinates of a given point (ST), calculate the coordinates of the center of gravity (CG) G by the formulas (1) and (2). Knowing the coordinates of the ST and CT G, determine the position of the trajectory approximation, passing through ST and CT G. then determine the transverse displacement of points a and b from the found trajectory convergence.

Coordinate values make it possible to continuously calculate the transverse displacement of point a ((d_A) and point (d_B) from the current position of trek the Oria convergence (figure 1). Moreover, the transverse displacement of the considered point from the trajectory of convergence is considered positive if it moves to the right, and negative if it moves toward the left (Fig 3, 4).

Transverse bias is produced a signal to the deviation of the steering body, such as steering the ship, according to the law:

where k_A, k_Bthe gain on the transverse displacement of the fore and aft points of the vessel from the trajectory convergence. This is a positive value, and k_Amore k_B. Plane angle α of the steering wheel 3 is considered positive when it is moved to the starboard side.

Figure 3, 4 shows options for possible deviations of the vessel 1 from the trajectory of convergence 2 and the control in each of them (plane angle α of the steering wheel 3). For example, figure 3, 4 DP 4 of the vessel 1 crosses the trajectory of convergence 2 at a certain angle, the value of which is characterized by the values of the transverse displacement of point A ((d_A) and point B ((d_B), and d_Agreater than 0, d_Bless than 0 (figure 3) and d_Aless than 0, d_Bgreater than 0 (figure 4). In the first case (figure 3) according to the law (3) the deflection angle α of the steering wheel 3 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 the d_Aand d_Band ultimately to the release of the vessel on the trajectory sblizhenie is; in the second case (figure 4) according to the law (3) the deflection angle α of the steering wheel 3 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 the d_Ad_Band to the exit of the ship on a trajectory convergence.

Delta values of points a and b from the trajectory of convergence (PL) is determined by the formula:

where X_0T, Y_0T- coordinates of the ST in the fixed coordinate system.

X_0A, Y_0A- coordinates of a point in the fixed coordinate system;

X_0B, Y_0B- coordinates of a point In the fixed coordinate system.

Y_0GX_0G- CG coordinate in the stationary system.

After determining the transverse displacements of points a and b are found from the position of a trajectory of convergence are relaying steering 3 depending on the combination of these offsets.

As a result of application of the present invention is achieved by the possibility of obtaining a technical result - improvement of quality control and precision maneuver convergence one rolling on a plane object with another moving object, for example, one ship with another moving vessel, thus, the proposed method of control the movement of the object when performing its convergence with other movable object within the same patentability criterion "industrial applicability".

Literature

1. Locke A.S. Management shells / Ashlock: Per. s angl. Gavarnie. - M.: Fizmatgiz, 1958. - 776 S. - (BoD guided missiles).

2. Yudin SCI Improved management of the vessel when performing mooring on the move in the open sea: the Dissertation on competition of a scientific degree K. T. H. - L., 1987. - 187 S. (lvimu them. ADM. Makarov).

3. Lipkin IA Satellite navigation system. - M.: Higher school book, 2001. - 215 S.

1. The method of controlling the movement of an object, such as a vessel, in the execution of his rapprochement with other movable object, such as a vessel, by the values of the transverse displacements located on the median plane of the ship's stern and the bow points from the trajectory at which the calculated lateral displacement of these points to calculate the transverse displacements of the stern and the bow points using their coordinates, which are measured with the aid of satellite navigation systems and differential corrections, produce relaying steering depending on the combination of the transverse displacement of the bow and stern points, characterized in that additionally use the given point on the plane in the direction of convergence of the vessel with another moving object and the center of gravity of the vessel, and through these points is the trajectory approximation, determine the coordinates of a given point, rely POS is Nata center of gravity of the vessel by formulas
Y_0G=Y_0A-[(Y_0A-Y₀)·(X_A-X_G)]/(X_A-X_In);
X_0G=X_0A-[(X_0A-X_0B)·(X_A-X_G)]/(X_A-X_In),
where X_Gthe abscissa of the center of gravity of the vessel in the coordinate system associated with the vessel;
X_And, X_Bthe abscissa, respectively, the nose point and the feed point in the coordinate system associated with the vessel;
X_0A, Y_0Acoordinates of the nasal point in the fixed coordinate system;
X_0B, Y_0B- coordinates of the feed point in the fixed coordinate system;
then determine the position of the trajectory approximation based on the coordinates of the given point and the center of gravity, and then the transverse displacement of the stern and the bow points from the found position trajectory convergence.

2. The method according to claim 1, characterized in that the setpoint can be mobile or conditionally mobile.

3. The method according to claim 1, characterized in that the coordinates of a given point is measured using a satellite navigation system and with differential corrections.