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Sailing track control method based on power vector

A control method and track technology, which can be applied to non-electric variable control, two-dimensional position/track control, control/regulation systems, etc., and can solve the problem of weak anti-interference ability, carrier track deviation, and track control technology. It is difficult to meet the requirements and other problems to achieve the effect of rapid response and high track control accuracy

Active Publication Date: 2017-04-26
浙江嘉蓝海洋电子有限公司
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Problems solved by technology

[0003] The traditional track control technology is described in detail in the article "Research on Ship Track Control Technology (Zhang Danren)". The target point is controlled as a closed-loop feedback, that is, the target course of the carrier is always pointing to the target, and only the course error of the carrier is considered , regardless of the deviation between the position of the carrier and the route; this control method is simple to implement, but the anti-interference ability is weak
like figure 1 As shown, once the external disturbance causes the vehicle's track to deviate, it is difficult to restore the vehicle to the original track
In some cases, such as when passing through narrow channels or performing full-coverage search and detection tasks, traditional track control technology will be difficult to meet the requirements

Method used

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  • Sailing track control method based on power vector
  • Sailing track control method based on power vector
  • Sailing track control method based on power vector

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Embodiment Construction

[0019] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0020] In the example, such as figure 2 , image 3 As shown, are the corrected track when the angle between the ship's current course θ and the predetermined track PQ is less than 90° and greater than 90°, respectively. Take the track radius R1 of No. 1, its centripetal force is F1, and F1 is half of the maximum resultant force Fmax of the dynamic vector, and the speed V, the value of R1 can be obtained from the formula of centripetal force, combined with the current course θ of the ship and the coordinates of the current position A, we can get The center O1 of the S1 track heading toward the predetermined track PQ, and the center O2 of the S2 track leaving the predetermined track PQ.

[0021] In the example, such as figure 2 , image 3 As shown, the No. 2 track is tangent to S1, S2, and PQ. From the positional relationship of S1 track, S2 track, ...

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Abstract

The invention discloses a sailing track control method based on power vector, which is designed to increase the control accuracy of ship sailing track so that the ship could sail according to a preset track. The sailing track control method based on power vector comprises the following steps: measuring the preset sailing track, sailing speed, sailing direction and the position of a ship at present; calculating the sailing deviation distance from the current position to the preset sailing track wherein if the sailing deviation distance H is equal to or greater than the preset scope theta, choosing a corrected sailing track; correcting the power vector of the ship by the corrected sailing track; decomposing the power vector into control amount for various power devices and controlling the navigation of the ship. According to the invention, the sailing track can be instantly detected and controlled so as to periodically detect the deviation of the ship from the preset sailing track, to detect and choose a corrected sailing track; powered by the power vector, the ship can return to the preset sailing track along the corrected sailing track. Capable of responding rapidly and with high control accuracy of the sailing track, the method of the invention is suitable for use when the ship crosses a narrow sailing channel or when full coverage search is executed in an entire area.

Description

technical field [0001] The invention relates to the technical field of ship track control, in particular to a dynamic vector-based track control method. Background technique [0002] Track control is an important part of navigation technology. In order to ensure the safe and economical navigation of the ship, the nautical personnel must always grasp the accurate position and course of the ship at every moment, calculate the course and track errors from the current position and course of the ship and the given planned route, and give the error according to the course and track errors The rudder angle control command makes the ship sail along the predetermined planned route. [0003] The traditional track control technology is described in detail in the article "Research on Ship Track Control Technology (Zhang Danren)". The target point is controlled as a closed-loop feedback, that is, the target course of the carrier is always pointing to the target, and only the course erro...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 禇栋张宇杜叶挺张晶
Owner 浙江嘉蓝海洋电子有限公司
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