Method of ship control in mooring to anchored partner shipboard. RU patent 2509031.
 Method of control over ship afloat / 2509030Invention relates to control over ship afloat at its positioning at preset point in the plane in preset direction. Crosswise displacement of two points spaced apart over object points and lengthwise drift of conditional points are used. Conditional point is located at ship centerline plane. Preset direction of the ship coincides with ship centerline plane direction at its sea surface position corresponding to minimum external force effects (wind, stream, rough sea). Current position of two points spaced apart over ship points on the plane at preset time moment is defined using the satellite navigation system. Current position of conditional point is calculated using the coordinates of the ship fore and aft points. Preset point is used. Preset point is located at preset line. Extra control signal is generated by law δS=ksds, where ks is amplification factor in lengthwise displacement of preset point from the line perpendicular to preset line and passing through conditional point. |
 Method of ship control in mooring to drifting partner shipboard / 2509029Invention relates to water transport, particularly, to ship control in mooring to drifting partner-ship. Current position of approach path is defined as a straight line passing through two preset points on the plane. Current position of preset points at whatever preset time moment is calculated using the coordinates of drifting partner ship aft and fore points, preset distance between mooring ships boards, preset position of ship mooring to another ship, and current length of braking path of mooring ship required for changing from initial sped to that equal to mooring ship linear speed lengthwise component. Approach is effected in two steps. At every said step definite points on the plane are used. At first approach step, mooring ship gets to first conditional point. At second step, it gets to second conditional point. |
 Method of determination of damping component of normal hydrodynamic force and moment / 2507110Invention relates to water transport and can be used in control over vessel path at complex maneuvering. Proposed method comprises finding the current magnitude of abscissa of the ship centre of rotation, angular speed, damping components of normal hydrodynamic force and moment. Proposed method exploits additionally arbitrary fore point A and aft point F whereat linear acceleration transducers are set. Said transducers are used to measure transverse linear accelerations wyF, wyA at said fore point F and aft point A. Then current transverse components of linear speeds υyA, υyF of points A and F are calculated. Then, normal hydrodynamic force and moment are defined. Aforesaid current magnitude of abscissa x0 of the ship centre of rotation is continuously found in maneuvering. |
 Automatic piloting / 2501708Invention relates to navigation. Proposed method comprises measurement of ship motion parameters and angular velocity, their comparison with programmed magnitudes and generation of control signal for rudder drive as data on mismatches and ship speed. In measurement of ship motion parameters, transducers additionally measure wind parameters, thrust angles, propulsors eccentricity and rpm, lateral thrusting propulsor rpm, keel clearance. Besides, fore and aft gravity center paths are defined. Program values of bearing and rudder angular velocity are defined in compliance with the ship motion model in extra function of wind speed and direction, thrust angles and propulsors rpm, lateral thrusting propulsor rpm, keel clearance, fore and aft gravity center paths, draft angle and ship drift angle. Control signal is transmitted via software of hardware to autopilot from four segmental receivers. Note here that instructions to autopilot are supplemented by maneuver instruction signal feed. |
 Method for determination of crosswise hydrodynamic force and its moment in ship complex maneuvering / 2500572Aft point A and fore point F at ship centerline plate are used. Accelerometers are installed at said points A and F to measure crosswise and lengthwise accelerations of said points. Current components of linear velocities of said points are defined. Turn pole abscissa, transverse hydrodynamic force and its moment are calculated. |
 Apparatus for forming path for switching ship to new heading / 2491509Apparatus for forming a path for switching a ship to a new heading has a computer of a path for switching the ship to a new heading capable of calculating two-dimensional coefficients of a polynomial curve, which is the path for switching the ship to a new heading, the output of which is designed to transmit a drive signal to the ship driver or autopilot, a computer of minimum curvature radius, sensors of longitudinal velocity, centre of mass coordinates and the course angle, a heading change angle setting device, a device for setting the magnitude of the maximum allowable control signal, a computer of boundary parameters for switching the ship to a new heading; the computer of the path for switching the ship to a new heading is capable of calculating such a path that movement on said path is dome with the magnitude the control signal which does not exceed the maximum allowable value. |
 Ship lateral thrusting device / 2487817Invention relates to ship building, particularly, to active ship control means, in particular, ship lateral thrust devices. Proposed device comprises propulsors and motor drive. Propulsors are fitted on shaft, on both sides of ship centreline plane and coupled with drive motor. Said propulsors are composed of discs. Discs rotational axes are directed perpendicular to plate tangential to ship skin at intersection of the latter with discs axes. Said discs are arranged in shells. Said shells are built in ship hull flush with its skin. Disc outer surface edges are also located flush with ship hull skin. |
 Submarine apparatus control device / 2465168Invention relates to submarine apparatus movement control devices. Suggested device is intended to provide straight-line spatial movement of submarine apparatus to detected object both in automatic and manual control modes at maximum speed considering possible saturations of this apparatus propellers. The device includes the following: telecamera, angle encoders of telecamera, command sensor, sources of reference signal, threshold elements, multipliers, dividers, NO and OR logic gates, sine and cosine functional converters, adders, switches, amplifiers, modulus taking units. |
 Method of tanker stabilisation in freight operation / 2462389Invention relates to water transport. Proposed method proceeds from generation of control signals for actuators. For this, current coordinates of below points are continuously defined in time: oil terminal mechanical center O (φo, λo), tanker aft point A (φA, λA), and tanker fore point F (φF, λF) to determine point F1 located on line connected oil terminal center with tanker aft point A. Note here that point F1 is located at fixed distance d from oil terminal center. Then, current coordinates of point F1(φF1, λF1) are calculated to calculate distance between current positions of points F and F1, and to determine magnitude of length FF1. Proportionally with said length generated is control signal for actuators designed to drive tanker fore point F to point F1. Which makes point O, F, A located on one line to meet freight operation safety requirements. |
 Method of limiting spinup of gas turbine unit free power turbine in starting it in propulsion unit drive / 2449918Invention relates to marine power plants equipped with gas turbine engines. Proposed method consists in using one of driven actuators as braking element. Propulsion unit is selected to make said braking element. Propulsion unit is set to position ''stop''. ACS sends starting signal to gas turbine engine. Parameters of said mode are registered and analysed. In case tolerable spinup parameters are exceeded, actuation system controlled coupling electrically driven valve is switched on to connect propulsion unit to turbine. In case turbine rpm reaches limitation tolerances and their derivatives in time, changing over into free running mode is considered completed. |
| 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. |
 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. |
 Method of control of ship traffic / 2297362Proposed method consists in forming signal of deflection from preset trajectory which is fed together with course error signal and course derivative to input of rudder actuating mechanism. Besides that, use is made of reference point in preset direction and two signals of deflection from preset trajectory are formed; the first signal is determined as algebraic difference between present magnitude of ship's bearing to reference point Пref.p. and present course K; the second signal is determined as algebraic difference between preset course to reference point Kpr. and present course K; then, combination of these signals and course derivative signal ω are fed to rudder actuating mechanism input by the following formula: δ=a1(Пref.p.-K)+a2ω+a3(Kpr.-K), where a1, a2, a3 are gain coefficients of respective signals. |
 Ship motion control system / 2319641Proposed ship motion control system is provided with commanding officer control console which may be used for observation of ship motion dynamics on special-purpose commanding officer display and for control of her motion by commanding officer personally. Control system is also provided with console selector switch, computer, mode setter and switch. Switch output is connected to steering gear input; outputs of course sensor, angular velocity sensor and rudder position sensor are connected to respective inputs of computer. |
 Method of ship mooring / 2350506Proposed method comprises electronic analog of ship motion, units of programmable and accelerated programmable motion control, unit of accelerated actuators, comparator unit with its input receiving signals from electronic analog of ship motion, units of programmable and accelerated programmable motion control. The comparator unit generates deviation of forecasted signals of the ship phase state at the end of mooring and preset programmed (for end of mooring), as well as that of the course angle and ship motion speed. Given the aforesaid deviations exceed tolerances, appropriate data is sent to navigator. |
 Method of controlling vessel movement of object when it approaches another moving vessel / 2356784Invention 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. |
 Device to control ship deadweight / 2363615Invention relates to ship building, particularly, to the device that provides for ship controllability and maneuverability. Proposed device comprises control elements, ailerons, arranged below the ship water-line. Ailerons are arranged in pairs relative to midplane in shipboard recesses that repeat aileron outlines. Note here that aileron surface matches the surface of board sections. The recess repeats the shape of aileron and is furnished with guide sleeve with packing box to house the control mechanism drive rod. Note here that aileron front vertical side is pivoted to the board, the pivot joint being attached to the hill frame. The guide attached to aileron houses the drive rod hinged support. |
 Underwater vehicle control device / 2364545Invention relates to underwater vehicle control systems. Proposed device comprises vertical and horizontal motion propulsors, TV camera, TV camera turn angle pickup, first threshold element, first adder, first source of reference signal, second threshold element, logical element NO and logical element OR. It comprises also the third threshold element, sine-wave functional converter, fist gate, first multiplication unit, first amplifier, sine-wave functional converter, second multiplication unit, second gate, second amplifier, distance pickup. It comprises, further on, the third gate, fourth threshold element, fourth gate, fifth gate, fourth threshold element, sixth gate, instructions pickup, first division unit, second source of reference signal, second adder, seventh gate, third source of reference signal, third adder, seventh gate, fifth threshold element and eighth gate. |
 Method of mooring to partner ship / 2375249Current position of approach trajectory is determined in the form of straight line passing through two points on plane, one representing mooring ship center of gravity another one making a preset point. Method of mooring consists in dividing approach in two stages, each using its preset point on plane. Position of preset points on plane in whatever time us determined using current coordinates of partner ship bow and stern points, preset position of mooring ship with respect to partner ship at final mooring stage, and its stopping distance required for it to make its initial speed equal to that of partner ship. |
FIELD: transport.
SUBSTANCE: invention relates to water transport. Proposed method consists in defining the approach path current position as a straight line. Said line crosses two preset points on the plane. Current position of preset points at whatever preset time moment is calculated using the coordinates of drifting partner ship aft and fore points, preset distance between mooring ships boards, preset position of ship mooring to another ship, and current length of braking path of mooring ship required for changing from initial sped to that equal to mooring ship linear speed lengthwise component. For safety of mooring, approach is effected in three steps. At first approach step, mooring ship gets to first conditional point. At second step, it gets to second conditional point. At third step, mooring ship approached to anchored partner-ship.
EFFECT: higher safety of mooring.
4 dwg
The invention relates to water transport and relating to the management of vessel moored to the performance of mooring operations to Board a ship anchored.
Known way to control vessel moored to the performance of mooring operations to the Board of the partner (Path # 2422326, opubl), when within the contours of the moored vessel and the vessel partner in their diametrically planes to pick two points, one of which is located in the nose And (moored vessel), A n (ship-partner), and the other aft At (moored vessel), B n (ship-partner) (Fig 1, 2) with respect to the middle frame of the respective vessel.
The coordinates of the points a, b, A, n , B n in a fixed coordinate system continuously determine with high accuracy (+/- 1.0 m). Using the coordinates of points moored vessel AND(X 0 , Y 0A), (X 0B , Y 0B ) vessel and the partner-A n (X 0 A n Y 0An ), B n (X 0Bn , Y 0Bn ) in a fixed coordinate system, the coordinates of the same points in the moving coordinate systems related moored vessel And A(X A , Y, A), (X , Y B ) vessel and the partner A n (X An Y An ), B n (X Bn , Y Bn ), the coordinates of the centers of gravity (CG) moored vessel in the associated mobile coordinate system G(X, g , Y g ) vessel and the partner in the associated mobile coordinate system G n (X 0Gn , Y 0Gn ), and spacing diametrically planes (DP) moored vessels h 0 and the distance between CG moored vessels m expect:
- coordinates of the center of gravity of a moored vessel G (X 0G , Y 0G ) in a fixed coordinate system;
- coordinates of the center of gravity of the ship-partner G n (X 0Gn , Y 0Gn ) in a fixed coordinate system;
- coordinates of points A' n (X A ' n ,Y A ' n ) and B' n (X B n y Y n B ), situated on the perpendicular DP vessel partner, restored in point A n and B n ;
- coordinates of the projection CT vessel partner G' n (X 0G'n Y 0G'n ) in a fixed coordinate system on the trajectory of convergence in the final stage of the mooring, the parallel DP vessel partner through A point' n and B' n ;
- coordinates of the second set point P 2 (X 0P2 , Y 0P2 ) in a fixed coordinate system;
- the current value of the stopping distance moored vessel should be calculated using the equations of its movement dυ/dS=f ( * , 1 , 2 , 3 ,...)
where * is the current value of the speed moored vessel;
S is the path;
With 1, 2 , 3 ,... are the current values of the parameters of the equations of motion of a moored vessel, which depends upon the current parameters characterizing the current status of loading of the ship and the external environment (displacement of a moored vessel; landing options corps; direction and speed of wind parameters excitement; direction and speed of currents; the depth of water area at the perform mooring operations).
The actual length of a brake way moored vessel in the process of rapprochement with the vessel-a partner is determined by integration of the equations of motion of a moored vessel within * = * n up * = * n , i.e.
where * n - initial speed of a moored vessel; * n - speed vessel partner.
While the current values of the parameters of the equations of motion of a moored vessel With 1 , 2 , 3 ,... in the implementation process of mooring operations continuously identify, using the method described in [2], [3];
- coordinates of the first given point P (X 0P1 , Y 0P1 ) in a fixed coordinate system.
Knowing the coordinates of the first set point and CG coordinate moored vessel determine the current position of a trajectory of convergence, passing through the first set point P (X 0P1 , Y 0P1 ) and CT moored vessel G (X 0G , Y 0g ). After that define the transverse displacement of points a and b from that found in a specified way trajectory of convergence.
Continuously determined the coordinates of points a and b, A n and B n continually calculate the CG coordinate moored vessel G, and together with continuously determined by the current value of the stopping distance S T and first given point P 1 , as well as transverse displacement d A and d B points a and b are moored vessel from the current position of a trajectory of convergence.
Transverse displacement produce a signal to the deviation of the steering body, for example steering moored vessel by law:
?=- k A x A d +k B x d B ,
where k A , k, B - gain on pepper offsets the bow and stern points moored vessel from the current position of a trajectory of convergence.
Thus, moored vessel moves along the line of GP 1 in the direction of the point P 1 .
At the time of exit moored vessel in the first set point, which corresponds to the coordinates equality CT moored vessel G (X 0G , Y 0G ) and the coordinates of the first given point P (X 0G , Y 0P1 ) (X 0G =X 0P1 , Y 0G =Y 0P1 ), it goes to the rapprochement with the second set point R 2 , with the current position of a trajectory approximation corresponds to the position of the line passing through A point' n (X A n Y A n and B n (X B n Y B n )which coordinates are calculated continuously. The current coordinates of the second set point P 2 (X 0P2 , Y 0P2 )lying on the line AA' n B' n , calculate also continuously.
Continuously determined the coordinates of points a and b, A n and B n continually calculate: the coordinates of points A' n and B n , CT G moored vessel and CG G n a vessel partner, the second set point P 2 in a fixed coordinate system, as well as transverse displacement d A and d B points a and b are moored vessel from the current position of a trajectory of convergence, which is the line A' n B' n .
Transverse displacement produce a signal to the deviation of the steering body, for example steering moored vessel by the known law. Thus, moored vessel is moving at a point R 2 along the line AA' n B' n .
The time when a moored vessel in the second set point R 2 corresponds coordinates equality CT moored vessel and the second set point, that is, X 0G =X 0P2 , Y 0G =Y 0P2 .
After the release moored vessel at the point R 2 carry out further rapprochement moored vessels up to direct contact «Board to Board». With this purpose, given the current position of a trajectory of convergence moored vessels, i.e. line A' n B' n , gradually shifted in parallel DP vessel partner in the side of the vessel partner with a speed of not more than permissible values of the speed of the transverse motion moored vessel in the direction of the ship-partner * D. Speed * d is determined proceeding from the safety of mooring operations, namely, the conditions for safe damping of transverse speed moored vessel in the moment of the contact moored vessels means fender protect vessels partner. Parallel shift the line AA' n B' n toward a vessel partner due to the displacement of points A' n and B n , position, which I hope continuously depending on the value of the distance h between the sides moored vessels. The gradual decrease of the value h in accordance with the law
dh/dt=f (*d , h, h 0 ,...)
changes the value specified by way of calculation of the distance between APS moored vessels h 0 =h+0.5 x(n B +C) (here n B - width of the vessel partner-In - the width of the moored vessel), which, in turn, changes the coordinates of points A ' n and B' n and ultimately line A' n B' n shifted vessel partner, while remaining parallel to his BF.
The line offset A' n B' n from the starting position to the side of the vessel partner forms offset d A d B a fore and aft In points moored vessel respectively. Is formed the control signal?=-k A x A d +k B x d B , and DP moored vessel is given to the new position of the line AA' n B' n until they match. Next, the process of shifting the line AA' n B' n at the specified algorithm in the direction of the ship partner will be repeated many times, repeatedly will take the form of displacement of the nasal d A and fodder d B points moored vessel relative to the current position of the line AA' n B' n. Offset fore and aft points In the moored vessel relative to the current position of the line AA' n B' n will lead to the formation of the control signal controls moored ship. Work management tools will return DP moored vessel on line coinciding with the current line position A' n B' n .
The line offset A' n B' n side of the vessel partner will be up until the distance h between 0 PD moored vessels will not be equal to the value determined from the expression h 0 =0.5 x(n B +C), i.e. at this point, the distance between the sides of the moored vessels will be zero as h=0. A specified point in the proposed method of ship's control when they mooring operations to the Board of the partner is considered the date of completion of mooring operations.
However, in this way, ship's control, performing mooring operation the vessel partner, there is a certain disadvantage of not allowing safe closer moored vessel with the vessel-partner, if it's anchored, because the vessel is anchored, relative to the water in the longitudinal direction is either absent, or has a value close to zero, so in the moment of release of the vessel moored alongside a partner, anchored, and subsequent convergence speed moored vessel must be equal to the flow rate * st in the area of anchorage.
The technical result, the attainment of which are directed by the invention consists in observing traffic conditions moored vessel at the final stage of mooring with the speed equal to the speed of the current * st in the area of the ship's anchorage-partner.
To achieve the technical result in the proposed method of ship's control when they mooring operations to the Board of the partner, when within the contours of the moored vessel and the vessel partner in their diametrically planes to pick two points, one of which is located in the nose And (moored vessel), A n (ship-partner), and the other aft At (moored vessel), B n (ship-partner) (Fig.1-4) with respect to the middle frame of the respective vessel.
The coordinates of the points a, b, A, n , B n in a fixed coordinate system continuously determine with high accuracy (+/- 1.0 m). Using the values of the coordinates of the moored vessel AND(X 0A , Y 0A) >(X 0B , Y 0B ) vessel and the partner-A n (X 0 A n Y 0An ), B n (X 0Bn , Y 0Bn ) in a fixed coordinate system, the coordinates of the same points in the moving coordinate systems related moored vessel And A(X A Y A), (X, B , Y, B ) and the vessel partner A n (An X , Y'an ), B n (X Bn ,Y Bn ), the coordinates of the centers of gravity (CG) moored vessel in the associated mobile coordinate system G(X, G ,Y G ) vessel and the partner in the associated mobile coordinate system G n (X 0Gn , Y 0Gn ), and spacing diametrically planes (DP) moored vessels h 0 and the distance between CG moored vessels m expect:
- coordinates of the center of gravity of the ship-partner G n (X 0Gn , Y 0Gn ) in a fixed coordinate system;
- coordinates of points A' n (X A n Y A n and B n (X B n B Y n ), situated on the perpendicular DP vessel partner, restored in point A n and B n ;
- coordinates of the projection CT vessel partner G' n {X 0G'n Y 0G'n ) in a fixed coordinate system on the trajectory of convergence in the final stage of mooring parallel to the DP vessel partner through A point' n and B' n ;
- coordinates of the second set point P 2 (X N , Y 0P2 ) in a fixed coordinate system;
- current the length of a brake way moored vessel should be calculated using the equations of its movement dυ/dS=f ( * , C 1 , 2 , 3 ,...)
where * is the current value of the speed moored vessel;
S is the path;
With 1 , 2 , 3 ,... are the current values of the parameters of the equations of motion of a moored vessel, which depends upon the current parameters characterizing the current status of loading of the ship and the external environment (the displacement of a moored vessel; landing options corps; direction and speed of wind parameters excitement; direction and speed of currents; the depth of water area at the execution ground operations).
A distinctive feature of the proposed method from the above-known, the most close to him, is the following:
additionally, the current value of the stopping distance moored vessel in the process of rapprochement with the vessel-a partner is determined by integration of the equations of motion of a moored vessel within * = * n up * = * st , i.e.
where * st is the rate of flow in the area of the ship's anchorage-partner.
While the current values of the parameters of the equations of motion of a moored vessel With 1, 2 , 3 ,... in the implementation process of mooring operations continuously identify, using the method described in [2], [3];
- coordinates of the first given point P (X 0P1 , Y 0P1 ) in a fixed coordinate system.
Knowing the coordinates of the first set point and CG coordinate moored vessel determine the current position of a trajectory of convergence, passing through the first set point P (X 0P1 , Y 0P1 ) and CT moored vessel G (X 0G , Y 0G ). After that define the transverse displacement of points a and b from that found in a specified way trajectory of convergence.
Continuously determined the coordinates of points a and b, A n and B n continually calculate the CG coordinate moored vessel G, and together with continuously determined by the current value of the stopping distance S T and first given point P 1 , as well as transverse displacement d A and d B points a and b are moored vessel from the current position of a trajectory of convergence.
Transverse displacement produce a signal to the deviation of the steering body, for example steering moored vessel by law:
?=- k A x A d +k B x d B ,
where k A , k - gain on pepper offsets the bow and stern points moored vessel from the current position of a trajectory of convergence.
Thus, moored vessel moves along the line of GP 1 in the direction of the point P 1 (figure 2).
At the time of exit moored vessel in the first set point, which corresponds to the coordinates equality CT moored vessel G(X 0G , Y 0G ) and the coordinates of the first given point P (X 0G , Y 0P1 ) (X 0G =X R ; Y 0G =Y 0P1 ), it goes to the rapprochement with the second set point R 2 (figure 2), while the current position of a trajectory approximation corresponds to the position of the line passing through A point' n (X A n Y A n and B n (X n B ,B Y n ), the coordinates of which are calculated continuously. The current coordinates of the second set point P 2 (X 0P2 , Y 0P2 )lying on the line AA' n B' n , are evaluated continuously.
Continuously determined the coordinates of points a and b, A n and B n continually calculate: the coordinates of points A' n and B n , CT G moored vessel and CG G n a vessel partner, the second set point P 2 in a fixed coordinate system, as well as transverse displacement d A and d B points a and b are moored vessel from the current position of a trajectory of convergence, which is the line A' n B' n .
Transverse displacement produce a signal to the deviation of the steering body, for example steering moored vessel by the known law. Thus, moored vessel is moving at a point R 2 along the line AA' n B' n .
The time when a moored vessel in the second set point R 2 corresponds coordinates equality CT moored vessel and the second set point, that is, X 0G =X 0P2 , Y 0G =Y 0P2 .
After the release moored vessel at the point R 2 carry out further rapprochement moored vessels up to direct contact «Board to Board». With this purpose, given the current position of a trajectory of convergence moored vessels, i.e. line A' n B' n , gradually shifted in parallel DP vessel partner in the side of the vessel partner with a speed of not more than permissible values of the speed of the transverse motion moored vessel in the direction of the ship-partner * D. Speed * d is determined proceeding from the safety of mooring operations, namely, the conditions for safe damping of transverse speed moored vessel in the moment of the contact moored vessels means fender protect vessels partner. Parallel shift the line AA' n B' n toward a vessel partner due to the displacement of points A' n and B n , position, which I hope continuously depending on the value of the distance h between the sides moored vessels. The gradual decrease of the value h in accordance with the law
changes the value specified by way of calculation of the distance between APS moored vessels h 0 =h+0.5 x(n B +C) (here n B - width of the vessel partner-In - the width of the moored vessel), which, in turn, changes the coordinates of points A ' n and B' n and ultimately line A' n B' n shifted vessel partner, while remaining parallel to his BF.
The line offset A' n B' n from the starting position to the side of the vessel partner forms offset d A d B a fore and aft In points moored vessel respectively. Form the control signal?=-k A x A d +k B x d B , and DP moored vessel is given to the new position of the line AA' n B' n until they match. Next, the process of shifting the line AA' n B' n at the specified algorithm in the direction of the ship partner will be repeated many times, repeatedly will take the form of displacement of the nasal d A and fodder d B points moored vessel relative to the current position of the line AA' n B' n . Offset fore and aft points In the moored vessel relative to the current position of the line AA' n B' n will lead to the formation of the control signal controls moored ship. Work management tools will return DP moored vessel on line coinciding with the current line position A' n B' n .
The line offset A' n B' n toward a vessel partner will be up until the distance h between 0 PD moored vessels will not be equal to the value determined from the expression h 0 =0.5 x(n B +C), i.e. at this point, the distance between the sides of the moored vessels will be zero as h=0. A specified point in the proposed method of ship's control when they mooring operations to the Board of the partner anchored, is considered the date of completion of mooring operations.
The proposed method of ship's control when they mooring operations to the Board of the partner is anchored, as follows.
Within the contours of the moored vessel and the vessel partner in their diametrically planes to pick two points, one of which is located in the nose And (moored vessel), A n (ship-partner), and the other aft At(moored vessel), B n (ship-partner) (Fig.1-4) with respect to the middle frame of the respective vessel.
The coordinates of the points a, b, A, n , B n in a fixed coordinate system continuously determine with high accuracy (+/- 1.0 m). Using the coordinates of points moored vessel AND(X 0A , Y 0A), (X 0B , Y 0B ) vessel and the partner-A n (X 0An , Y 0An ), B n (X 0Bn , Y 0Bn ) in a fixed coordinate system, the coordinates of the same points in the moving coordinate systems related to vessel moored A(X A , Ya), (X , Y B ) vessel and the partner A n (An X , Y'an ), B n (X Bn ,Y Bn ), the coordinates of the centers of gravity (CG) moored vessel in the associated mobile coordinate system G(X, G ,Y G ) vessel and the partner in the associated mobile coordinate system G n (X 0Gn , Y 0Gn ), and values of the distances between diametrically planes (DP) moored vessels h 0 and the distance between CG moored vessels m expect:
- coordinates of the center of gravity of a moored vessel G(X 0G , Y 0G ) in a fixed coordinate system;
- coordinates of the center of gravity of the ship-partner G n (X 0Gn , Y 0Gn ) in a fixed coordinate system;
- coordinates of points A' n (X A n Y A n and B n (X B n B Y n ), situated on the perpendicular DP vessel partner, restored in point A n and B n ;
- coordinates of the projection CT vessel partner G' n (X 0G'n >Y 0G'n ) in a fixed coordinate system on the trajectory of convergence in the final stage of mooring parallel to the DP vessel partner through A point' n and B' n ;
- coordinates of the second set point P 2 (X 0P2 , Y 0P2 ) in a fixed coordinate system;
- the current value of the stopping distance moored vessel should be calculated using the equations of its movement
dυ/dS=f ( * , C 1 , 2 , 3 ,...)
where * is the current value of the speed moored vessel;
S is the path;
With 1 , 2 , 3 ,... are the current values of the parameters of the equations of motion of a moored vessel, which depends upon the current parameters characterizing the current status of loading of the ship and the environment (displacement moored vessel; landing options corps; direction and speed of wind parameters excitement; direction and speed of currents; the depth of water area at the perform mooring operations).
The actual length of a brake way moored vessel in the process of rapprochement with the vessel-a partner is determined by integration of the equations of motion of a moored vessel within * = * n up * = * st , i.e.
where * st is the rate of flow in the area of the ship's anchorage-partner.
While the current values of the parameters of the equations of motion of a moored vessel With 1 , 2 , 3 ,... in the implementation process of mooring operations continuously identify, using the method described in [2], [3];
- coordinates of the first given point P (X 0P1 , Y 0P1 ) in a fixed coordinate system.
Knowing the coordinates of the first set point and CG coordinate moored vessel determine the current position of a trajectory of convergence, passing through the first set point P (X 0P1 , Y 0P1 ) and CG G moored vessel (X 0G , Y 0G ). After that define the transverse displacement of points a and b from that found in a specified way trajectory of convergence.
Continuously determined the coordinates of points a and b, A n and B n continually calculate the CG coordinate G moored vessel, and with continuously determined by the current value of the stopping distance S T and first given point P 1 , as well as transverse displacement d A and d B points a and b are moored vessel from the current position of a trajectory of convergence.
Transverse displacement produce a signal to the deviation of the steering body, for example steering moored vessel by law:
?=- k A x A d +k B x d B ,
where k A , k - gain on pepper offsets the bow and stern points moored vessel from the current position of a trajectory of convergence.
Thus, moored vessel moves along the line of GP 1 in the direction of the point P 1 .
At the time of exit moored vessel in the first set point, which corresponds to the coordinates equality CT moored vessel G(X 0G , Y 0G ) and the coordinates of the first given point P (X 0G , Y 0P1 ) (X 0G =X 0P1 ; Y 0G =Y 0P1 ), it goes to the rapprochement with the second set point R 2 , with the current position of a trajectory approximation corresponds to the position of the line passing through A point' n (X A n Y A n ) u B' n (X B n Y B n )which coordinates are calculated continuously. The current coordinates of the second set point P 2 (X 0P2 , Y 0P2 )lying on the line AA' n B' n , calculated continuously.
Continuously determined the coordinates of points a and b, A n and B n continually calculate: the coordinates of points A' n and B n , CT G moored vessel and CG G n a vessel partner, the second set point P 2 in a fixed coordinate system, as well as transverse displacement d A and d B points a and b are moored vessel from the current position of a trajectory of convergence, which is the line A' n B' n .
Transverse displacement produce a signal to the deviation of the steering body, for example steering moored vessel by the known law. Thus, moored vessel is moving at a point R 2 along the line AA' n B' n .
The time when a moored vessel in the second set point R 2 corresponds coordinates equality CT moored vessel and the second set point, that is, X 0G =X 0P2 , Y 0G =Y 0P2 .
After the release moored vessel at the point R 2 carry out further rapprochement moored vessels up to direct contact «Board to Board». With this purpose, given the current position of a trajectory of convergence moored vessels, i.e. line A' n B' n , gradually shifted in parallel DP vessel partner in the side of the vessel partner with a speed of not more than permissible values of the speed of the transverse motion moored vessel in the direction of the ship-partner * D. Speed * d is determined proceeding from the safety of mooring operations, namely, the conditions for safe damping of transverse speed moored vessel in the moment of the contact moored vessels means fender protect vessels partner. Parallel shift the line AA' n B' n toward a vessel partner due to the displacement of points A' n and B n , position, which I hope continuously depending on the value of the distance h between the sides moored vessels. The gradual decrease of the value h in accordance with the law
dh/dt=f(υ, h, h 0 ,...)
changes the value specified by way of calculation of the distance between APS moored vessels h 0 =h+0.5 x(n B +C) (here n B - width of the vessel partner-In - the width of the moored vessel), which, in turn, changes the coordinates of points A ' n and B' n and ultimately line A' n B' n shifted vessel partner, while remaining parallel to his BF.
The line offset A' n B' n from the starting position to the side of the vessel partner forms offset d A d B a fore and aft In points moored vessel respectively. Is formed the control signal?=-k A x A d +k B x d B , and DP moored vessel is given to the new position of the line AA' n B' n until they match. Next, the process of shifting the line AA' n B' n at the specified algorithm in the direction of the ship partner will be repeated many times, repeatedly will take the form of displacement of the nasal d A and fodder d B points moored vessel relative to the current position of the line AA' n B' n. Offset fore and aft points In the moored vessel relative to the current position of the line AA' n B' n will lead to the formation of the control signal controls moored ship. Work management tools will return DP moored vessel on line coinciding with the current line position A' n B' n .
The line offset A' n B' n toward a vessel partner will be up until the distance h between 0 PD moored vessels will not be equal to the value determined from the expression h 0 =0.5 x(n B +C), i.e. at this point, the distance between the sides of the moored vessels will be zero as h=0. A specified point in the proposed method of ship's control when they mooring operations to the Board of the partner is considered the date of completion of mooring operations.
As a result of application of the present invention is an opportunity to obtain a technical result - compliance with security perform mooring operations to the Board of the partner anchored, thus, the proposed method, ship's control when they mooring operations to the Board of the partner meets the criteria of patentability «industrial applicability».
List of literature
1. Pat. no 2422326 Russian Federation, publ. On June 27.
3. Yudin Yu. I. Theoretical bases of safe ways of maneuvering when performing point mooring: monograph / Wiggin, Savasana, Hearty, Ayuden. -Murmansk: Izd-vo MGTU, 2009. - 152 S.: Il.