Course control method and system for sail navigation aid ship

Abstract

The invention relates to a course control method and system for a sail navigation aid ship. The method includes the steps that the optimal sail angle of a sail is adjusted according to wind power and the wind direction; the off-course angle of the sail at the time of optimal sail angle outputting is detected, off-course, caused for the ship, of the sail is calculated according to the off-course angle, and a compensation value is provided; a feedback value of a rudder output drift angle is detected, and an output value of a rudder angle is changed according to the error between the feedback value and a course set value; course is determined according to the compensation value and the output value of the rudder angle. The system comprises a wind power sensor, a sail angle control device, a first sail angle sensor, a feed-forward controller, a drift angle sensor, a rudder angle sensor and a rudder angle servo device. Feed-forward control is adopted, adjustment can be performed in advance, disturbance of transverse force is restrained, so that a rudder acts in advance to compensate the off-course caused by the sail when the course is not changed yet, and finally the ship invariably sails on a preset course.

Description

technical field [0001] The invention relates to directional navigation of a sailing ship, and more specifically relates to a method and system for controlling the course of a sailing aided ship. Background technique [0002] Wind energy is an inexhaustible source of energy. Wind energy has the characteristics of high efficiency, cleanliness and no pollution, and its application on large ocean-going bulk ships is of great significance. As the wind direction and force at sea often change, the thrust and lateral force provided by the sail will also change accordingly. The action of lateral force will cause the ship to deviate from the predetermined course and cause yaw, so that the energy saved originally due to the sail-assisted propulsion is wasted on the redundant travel. The invention aims to take the large ocean-going bulk carrier with the sail as the application background, and research the control method for the sail to maintain the predetermined course under the situa...

AI Technical Summary

Problems solved by technology

However, there are few results on the heading control of sail-assisted ships

Some scholars only regard wind as an interference item, but there is no analysis on the quantitative analysis between wind force, wind direction and heading.

In addition, some scholars only consider the heading control when the wind direction is fixed and the sail angle is fixed.

However, the wind force and direction at sea change frequently, and the sail angle also changes frequently, which leads to frequent changes in the thrust and lateral force provided by the sail, which directly affects the course and speed of the ship.

In addition, some scholars use feedback control theory to control the ship's course. The characteristic of this control method is "post-adjustment", that is, the control effect can only be achieved with the course deviation, especially for objects with large inertia such as ships. Although the control can correct the yaw, it will still produce yaw and the process of correcting the yaw will be very slow

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