Autopilot course control system and method thereof

Abstract

This invention relates to the shipping automatic control technology field, especially to a flight path automatic helm control system and its method. The system includes the crab effect, the course angle compensation, the dummy aim course and so on; the second part includes the course warp device and the course control device; the third part includes the helm angle instruction self-adjusting device, the ship velocity checking device and helm operation device; the fourth part includes the display device and the safe information box device. The method includes: the course angle complement demand; working out the course warp value; the helm angle demand self-adjusting; working out the actual shipping velocity; the helm angle control demand adjusting; the helm angle value sending to the shipping system; adjusting the actual course angle of the shipping device consistent to the aim course; sending the whole alarm information to the display device; displaying and upgrading these information on the display device; alarming when occurring accident.

Description

technical field

[0001] The invention relates to the technical field of ship automatic control, in particular to an automatic rudder heading control system and a method thereof. Background technique

[0002] The autopilot is an important device in the ship steering system. Course control refers to making the heading angle of the ship follow the set course by manipulating the steering gear. Ship maneuvering has nonlinear slow time-varying characteristics, and ship motion is also affected by various random disturbances (such as wind, waves, and currents). Modern autopilots require precise heading control, the best steering performance and the ability to adapt to changes in ship dynamic characteristics and sea conditions.

[0003] Traditional PID (Proportional Integral Differential) autopilots usually do not consider the influence of various disturbances during the design process, so they lack the ability to adapt to ship dynamic characteristics and sea state changes, and are ...

Examples

Embodiment Construction

[0016] The main devices of the autopilot heading control system will be further described below in conjunction with the accompanying drawings.

[0017] figure 2 Among them, the functional device includes a yaw effect device M1, a yaw effect device M2, a yaw effect device M3, a heading angle compensation device M4, a virtual target heading device M5, a heading deviation device M6, a heading control device M7, and a rudder angle command self-adjustment Device M8, ship speed detection device M9, steering device M10, ship device M11, safety signal box device M12, display device M13.

[0018] Signal S1 indicates wind direction, S2 indicates wind speed, S3 indicates ship condition, S4 indicates sea wave, S5 indicates sea current direction, S6 indicates target course, S7 indicates ship speed, S8 indicates sea current speed, S9 indicates rudder angle, S10 indicates actual course, S11 indicates Alarm.

[0019] The method for an autopilot heading control system, the steps are as foll...

technical field

[0001] The invention relates to the technical field of ship automatic control, in particular to an automatic rudder heading control system and a method thereof. Background technique

[0002] The autopilot is an important device in the ship steering system. Course control refers to making the heading angle of the ship follow the set course by manipulating the steering gear. Ship maneuvering has nonlinear slow time-varying characteristics, and ship motion is also affected by various random disturbances (such as wind, waves, and currents). Modern autopilots require precise heading control, the best steering performance and the ability to adapt to changes in ship dynamic characteristics and sea conditions.

[0003] Traditional PID (Proportional Integral Differential) autopilots usually do not consider the influence of various disturbances during the design process, so they lack the ability to adapt to ship dynamic characteristics and sea state changes, and are ...

Examples

Embodiment Construction

[0016] The main devices of the autopilot heading control system will be further described below in conjunction with the accompanying drawings.

[0017] figure 2 Among them, the functional device includes a yaw effect device M1, a yaw effect device M2, a yaw effect device M3, a heading angle compensation device M4, a virtual target heading device M5, a heading deviation device M6, a heading control device M7, and a rudder angle command self-adjustment Device M8, ship speed detection device M9, steering device M10, ship device M11, safety signal box device M12, display device M13.

[0018] Signal S1 indicates wind direction, S2 indicates wind speed, S3 indicates ship condition, S4 indicates sea wave, S5 indicates sea current direction, S6 indicates target course, S7 indicates ship speed, S8 indicates sea current speed, S9 indicates rudder angle, S10 indicates actual course, S11 indicates Alarm.

[0019] The method for an autopilot heading control system, the steps are as foll...

Images