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Ship motion control method, terminal equipment and storage medium

A technology of ship motion and control method, which is applied in the field of terminal equipment and storage media, and ship motion control method, and can solve problems such as the research of ship wall effect, ship accidental collision with bridge pier, safety accidents, etc.

Active Publication Date: 2020-09-11
JIMEI UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The pier warning sign can mark the position of the pier, especially at night, when the visual conditions are not good, if the pier warning sign is missing, the ship is easy to accidentally hit the pier, causing a safety accident
Because when the ship encounters the bridge and culvert marks, the piers will have a quay effect on the ship, but the quay effect of the ship has not been studied in the prior art

Method used

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  • Ship motion control method, terminal equipment and storage medium
  • Ship motion control method, terminal equipment and storage medium
  • Ship motion control method, terminal equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0039] The embodiment of the present invention provides a kind of ship motion control method, and the specific process is:

[0040] 1. Build a ship motion model

[0041] A coordinate system is constructed with the fixed observation point on the coast as the origin O, the due east as the X axis, and the due north as the Y axis. Considering the three-degree-of-freedom motion of surge, yaw, and yaw, the motion model is as follows figure 1 , where η represents the position and attitude vector of the ship; υ represents the velocity vector of the ship; u represents the forward velocity in m / s; v represents the sway velocity in m / s; The unit is the yaw angular velocity in / s; x is the forward direction position in m; y is the sway direction position in m; ψ is the yaw angle in rad.

[0042] The mathematical model of ship motion is as follows:

[0043]

[0044] η=[x y ψ] T (2)

[0045] υ=[u v r] T (3)

[0046] where R is the rotation matrix, calculated as follows:

[0047...

Embodiment 2

[0221] The present invention also provides a ship motion control terminal device, including a memory, a processor, and a computer program stored in the memory and operable on the processor, and the present invention is realized when the processor executes the computer program Steps in the above method embodiment of Embodiment 1.

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PUM

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Abstract

The invention relates to a ship motion control method, terminal equipment and a storage medium, and the method comprises the steps that the disturbing force and moment in a ship motion control equation do not contain a quay wall effect when a ship is far away from a pier; when the ship encounters the bridge and culvert mark, the pier generates a quay wall effect on the ship, and the disturbing force and the moment in the ship motion control equation increase the force and the moment generated by the quay wall effect. And a series of verifications prove that the closed-loop systems are consistent and finally bounded. And under different input delays, the ship can automatically adjust and quickly reach a required position.

Description

technical field [0001] The invention relates to the field of ship control, in particular to a ship motion control method, terminal equipment and a storage medium. Background technique [0002] For the navigation aids in the bridge area, the International Association of Aids to Navigation (IALA) recommends that the left and right sides of the navigable bridge holes use red or green rhythmic navigation lights to mark the boundaries of the navigable waterway. The pier warning sign is a very important navigation aid and plays an important role in ensuring the safety of ship navigation. The bridge pier warning sign can mark the position of the bridge pier, especially at night, when the visual conditions are not good, if there is no bridge pier warning sign, the ship will easily collide with the bridge pier by mistake, causing a safety accident. Because when the ship encounters the bridge and culvert mark, the pier will produce the quay effect on the ship, but the quay effect of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/28G06F17/11G06F119/14
CPCG06F30/28G06F17/11G06F2119/14
Inventor 李锋甄涛江道伟陈国伟谢奎薛晗洪长华黄鹏飞李丽娜柴田
Owner JIMEI UNIV
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