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A ship motion control method, terminal device and storage medium

A technology of ship motion and control method, which is applied in the fields of terminal equipment and storage medium, and ship motion control method, and can solve problems such as safety accidents, accidental collision of ships with bridge piers, and research on the effect of non-ship quay walls.

Active Publication Date: 2022-08-05
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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  • A ship motion control method, terminal device and storage medium
  • A ship motion control method, terminal device and storage medium
  • A ship motion control method, terminal device and storage medium

Examples

Experimental program
Comparison scheme
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Embodiment 1

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

[0040] 1. Build the 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 speed vector of the ship; u represents the forward speed in m / s; v represents the sway speed in m / s; r represents the speed in rad / s is the yaw angular velocity in unit; x is the forward direction position in m; y is the yaw 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, which is calc...

Embodiment 2

[0221] The present invention also provides a ship motion control terminal device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, and the processor implements the present invention 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 storage medium. The method includes: when the ship is far away from a bridge pier, the disturbance force and moment in the ship motion control equation do not contain bank effect. When a ship encounters a bridge and culvert, the piers have a quay wall effect on the ship, and the disturbance force and moment in the ship's motion control equation increase the force and moment generated by the quay wall effect. And through a series of verifications, it is proved that the closed-loop system is uniform and eventually bounded. And with different input delays, the ship can adjust itself and quickly reach the desired 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 storage medium. Background technique [0002] For the navigation aids for navigation in the bridge area, the International Association of Navigational Aids (IALA) recommends the use of red or green rhythmic navigational lights to mark the boundaries of the navigable fairway. The bridge pier warning sign is a very important navigation aid sign, which 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 the bridge pier warning sign is missing, the ship can easily hit the bridge pier by mistake, causing a safety accident. When a ship encounters a bridge and culvert, the pier will have a quay wall effect on the ship, and the quay wall effect of the ship has not been studied in the prior a...

Claims

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Application Information

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Patent Type & Authority Patents(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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