A sun-hanging landscape system for a cruise ship

Abstract

The embodiment of the present invention discloses a sun-hanging landscape system for a cruise ship, wherein a sun-hanging landscape corridor is provided on the deck of the cruise ship, and the centerline of the sun-hanging landscape corridor coincides with the centerline of the hull of the cruise ship. The sun-hanging landscape system comprises: a sun tracker, which is arranged at the top of the stern of the hull and located on the centerline of the hull, and is used to measure the deviation between the centerline of the hull and the position of the sun; a control system, which is used to control the bow thruster of the hull to adjust the position of the hull through a first proportional-integral-differential controller of the control system based on a comparison between the deviation and a set value, or to control the left thruster located on the port side of the stern of the hull or the right thruster located on the starboard side of the stern of the hull through a second proportional-integral-differential controller of the control system to adjust the position of the hull, so that the sun is located on the extension line of the centerline of the hull and descends along the centerline of the sun-hanging landscape corridor in the vertical direction.

Description

Technical Field

[0001] The invention relates to the technical field of ship control, in particular to a sun-hanging landscape system for a cruise ship. Background Art

[0002] The sunset is a very beautiful sight, and because the earth rotates, when you watch the sunset on land, the sun appears to fall along a diagonal line from east to west.

[0003] At present, cruise ships are an important platform for tourists to travel and entertain. Watching the sunset on a cruise ship, combined with the endless sea, can provide tourists with more beautiful and spectacular scenery. However, the current cruise ships are not combined with natural landscapes and cannot meet the needs of tourists for more spectacular natural landscapes. Of course, a small number of retired cruise ships are used as cruise hotels and integrated into the city night view, but they are only for viewing the city night view. In addition, none of the cruise ships currently in service have the ability to track the sun. Summary of the invention

[0004] In view of the above problems existing in the prior art, an embodiment of the present invention provides a cruise ship's suspended sun landscape system, which combines the cruise ship with the natural landscape so that when passengers watch the sunset in the suspended sun landscape corridor, they can see the sun falling in a vertical direction, providing a beautiful visual effect.

[0005] An embodiment of the present invention provides a sun-hanging landscape system for a cruise ship, wherein a sun-hanging landscape corridor is provided on the deck of the cruise ship, and the centerline of the sun-hanging landscape corridor coincides with the centerline of the hull of the cruise ship. The sun-hanging landscape system comprises:

[0006] A sun tracker, which is disposed at the top of the stern of the hull and located on the centerline of the hull, and is used to measure the deviation between the centerline of the hull and the position of the sun;

[0007] A control system is used to control the bow thruster of the hull to adjust the position of the hull through a first proportional-integral-differential controller of the control system based on the comparison between the deviation and the set value, or to control the left thruster located on the port side of the stern of the hull or the right thruster located on the starboard side of the stern of the hull to adjust the position of the hull through a second proportional-integral-differential controller of the control system, so that the sun is located on the extension line of the centerline of the hull and descends along the centerline of the vertical direction of the sun-hanging viewing corridor.

[0008] In some embodiments of the present invention, if the deviation is not greater than the set value, the first proportional-integral-differential controller is used to control the bow thruster of the hull to adjust the position of the hull.

[0009] In some embodiments of the present invention, the first proportional-integral-derivative controller and the bow thruster are used to compensate for the rotation of the earth, and the power of the bow thruster is smaller than that of the left thruster and the right thruster.

[0010] In some embodiments of the present invention, if the deviation is greater than the set value, the position of the hull is adjusted by controlling the left propeller or the right propeller through the second proportional-integral-differential controller, and the left propeller or the right propeller is used to compensate for the impact of wind and waves on the hull.

[0011] In some embodiments of the present invention, the first proportional-integral-differential controller and the second proportional-integral-differential controller are used to adjust corresponding proportional control parameters, integral control parameters and differential control parameters in real time according to the deviation and the deviation change rate of the deviation.

[0012] In some embodiments of the present invention, the real-time adjustment of corresponding proportional control parameters, integral control parameters and differential control parameters according to the deviation and the deviation change rate of the deviation includes:

[0013] When the deviation is not greater than the set value;

[0014] If the deviation is within the first set deviation angle range, and the deviation change rate is within the first deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the first proportional control parameter range, the integral control parameter is within the first integral control parameter range, and the differential control parameter is within the first differential control parameter range;

[0015] If the deviation is within the first set deviation angle range, and the deviation change rate is within the second deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the first proportional control parameter range, the integral control parameter is within the first integral control parameter range, and the differential control parameter is within the second differential control parameter range;

[0016] If the deviation is within the first set deviation angle range, and the deviation change rate is within the third deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the first proportional control parameter range, the integral control parameter is within the first integral control parameter range, and the differential control parameter is within the third differential control parameter range;

[0017] If the deviation is within the second set deviation angle range, and the deviation change rate is within the first deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the second proportional control parameter range, the integral control parameter is within the second integral control parameter range, and the differential control parameter is within the first differential control parameter range;

[0018] If the deviation is within the second set deviation angle range, and the deviation change rate is within the second deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the second proportional control parameter range, the integral control parameter is within the second integral control parameter range, and the differential control parameter is within the second differential control parameter range;

[0019] If the deviation is within the second set deviation angle range, and the deviation change rate is within the third deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the second proportional control parameter range, the integral control parameter is within the third integral control parameter range, and the differential control parameter is within the third differential control parameter range;

[0020] If the deviation is within the third set deviation angle range, and the deviation change rate is within the first deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the third proportional control parameter range, the integral control parameter is within the third integral control parameter range, and the differential control parameter is within the first differential control parameter range;

[0021] If the deviation is within the third set deviation angle range, and the deviation change rate is within the second deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the third proportional control parameter range, the integral control parameter is within the third integral control parameter range, and the differential control parameter is within the second differential control parameter range;

[0022] If the deviation is within the third set deviation angle range, and the deviation change rate is within the third deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the third proportional control parameter range, the integral control parameter is within the third integral control parameter range, and the differential control parameter is within the third differential control parameter range;

[0023] Wherein, the deviation angles in the first set deviation angle range, the second set deviation angle range and the third set deviation angle range increase in sequence;

[0024] The deviation angle change rates in the first deviation angle change rate range, the second deviation angle change rate range, and the third deviation angle change rate range increase in sequence;

[0025] The proportional control parameters in the first proportional control parameter range, the second proportional control parameter range and the third proportional control parameter range increase in sequence;

[0026] The integral control parameters in the first integral control parameter range, the second integral control parameter range and the third integral control parameter range increase in sequence;

[0027] The differential control parameters in the first differential control parameter range, the second differential control parameter range and the third differential control parameter range increase in sequence.

[0028] In some embodiments of the present invention, the absolute value of the set value is 1 degree, wherein the sun is on the left side of the centerline of the hull as a positive angle, and the sun is on the right side of the centerline of the hull as a negative angle;

[0029] The first setting deviation angle range is not less than -0.3 degrees and not more than 0.3 degrees;

[0030] The second setting deviation angle range is not less than -0.6 degrees and less than -0.3 degrees, and greater than 0.3 degrees and not greater than 0.6 degrees;

[0031] The third deviation angle range is not less than -1 degree and less than -0.6 degree, and greater than 0.6 degree and not greater than 1 degree;

[0032] The first deviation angle change rate range is not less than -1*10 -3 degrees / second and not more than 1*10 -3 Degree / second;

[0033] The second deviation angle change rate range is not less than -2*10 -3 degrees / second and less than -1*10 -3 degrees / second, and greater than 1*10 -3 degrees / second and not more than 2*10 -3 Degree / second;

[0034] The third deviation angle change rate range is not less than -3*10 -3 degrees / second and less than -2*10 -3 degrees / second, and greater than 2*10 -3 degrees / second and no more than 3*10 -3 Degree / second;

[0035] The first proportion control parameter range is 15-18, the second proportion control parameter range is 18-21, and the third proportion control parameter range is 21-24;

[0036] The first integral control parameter range is 0.01-0.025, the second integral control parameter range is 0.025-0.04, and the third integral control parameter range is 0.04-0.055;

[0037] The first differential control parameter range is 0.02-0.06, the second differential control parameter range is 0.06-0.1, and the third differential control parameter range is 0.1-0.14.

[0038] In some embodiments of the present invention, the real-time adjustment of corresponding proportional control parameters, integral control parameters and differential control parameters according to the deviation and the deviation change rate of the deviation includes:

[0039] When the deviation is greater than the set value;

[0040] If the deviation is within a fourth set deviation angle range, and the deviation change rate is within a fourth deviation angle change rate range, then, in real time, the proportional control parameter of the second proportional-integral-differential controller is adjusted to be within a fourth proportional control parameter range, the integral control parameter is within a fourth integral control parameter range, and the differential control parameter is within a fourth differential control parameter range;

[0041] If the deviation is within the fourth set deviation angle range, and the deviation change rate is within the fifth deviation angle change rate range, then, the proportional control parameter of the second proportional-integral-differential controller is adjusted in real time to be within the fourth proportional control parameter range, the integral control parameter is within the fourth integral control parameter range, and the differential control parameter is within the fifth differential control parameter range;

[0042] If the deviation is within the fourth set deviation angle range, and the deviation change rate is within the sixth deviation angle change rate range, then, the proportional control parameter of the second proportional-integral-differential controller is adjusted in real time to be within the fourth proportional control parameter range, the integral control parameter is within the fourth integral control parameter range, and the differential control parameter is within the sixth differential control parameter range;

[0043] If the deviation is within the fifth deviation angle range and the deviation change rate is within the fourth deviation angle change rate range, then, the proportional control parameter of the second proportional-integral-differential controller is adjusted in real time to be within the fifth proportional control parameter range, the integral control parameter is within the fifth integral control parameter range, and the differential control parameter is within the fourth differential control parameter range;

[0044] If the deviation is within the fifth set deviation angle range, and the deviation change rate is within the fifth deviation angle change rate range, then, in real time, the proportional control parameter of the second proportional-integral-differential controller is adjusted to be within the fifth proportional control parameter range, the integral control parameter is within the fifth integral control parameter range, and the differential control parameter is within the fifth differential control parameter range;

[0045] If the deviation is within the fifth deviation angle range and the deviation change rate is within the sixth deviation angle change rate range, then the proportional control parameter of the second proportional-integral-differential controller is adjusted in real time to be within the fifth proportional control parameter range, the integral control parameter is within the sixth integral control parameter range and the differential control parameter is within the sixth differential control parameter range;

[0046] If the deviation is within the sixth deviation angle range, and the deviation change rate is within the fourth deviation angle change rate range, then, the proportional control parameter of the second proportional-integral-differential controller is adjusted in real time to be within the sixth proportional control parameter range, the integral control parameter is within the sixth integral control parameter range, and the differential control parameter is within the fourth differential control parameter range;

[0047] If the deviation is within the sixth deviation angle range and the deviation change rate is within the fifth deviation angle change rate range, then, the proportional control parameter of the second proportional-integral-differential controller is adjusted in real time to be within the sixth proportional control parameter range, the integral control parameter is within the sixth integral control parameter range, and the differential control parameter is within the fifth differential control parameter range;

[0048] If the deviation is within the sixth set deviation angle range, and the deviation change rate is within the sixth deviation angle change rate range, then, the proportional control parameter of the second proportional-integral-differential controller is adjusted in real time to be within the sixth proportional control parameter range, the integral control parameter is within the sixth integral control parameter range, and the differential control parameter is within the sixth differential control parameter range;

[0049] The deviation angles in the fourth set deviation angle range, the fifth set deviation angle range and the sixth set deviation angle range increase in sequence;

[0050] The deviation angle change rates in the fourth deviation angle change rate range, the fifth deviation angle change rate range, and the sixth deviation angle change rate range increase in sequence;

[0051] The proportional control parameters in the fourth proportional control parameter range, the fifth proportional control parameter range and the sixth proportional control parameter range increase in sequence;

[0052] The integral control parameters in the fourth integral control parameter range, the fifth integral control parameter range and the sixth integral control parameter range increase in sequence;

[0053] The differential control parameters in the fourth differential control parameter range, the fifth differential control parameter range and the sixth differential control parameter range increase in sequence.

[0054] In some embodiments of the present invention, the absolute value of the set value is 1 degree, wherein the sun is on the left side of the centerline of the hull as a positive angle, and the sun is on the right side of the centerline of the hull as a negative angle;

[0055] The first setting deviation angle range is not less than -1.5 degrees and less than -1 degree, and greater than 1 degree and not greater than 1.5 degrees;

[0056] The second setting deviation angle range is not less than -2 degrees and less than -1.5 degrees, and greater than 1.5 degrees and not greater than 2 degrees;

[0057] The third deviation angle range is not less than -3 degrees and less than -2 degrees, and greater than 2 and not greater than 3 degrees;

[0058] The first deviation angle change rate range is not less than -1*10 -2 degrees / second and not more than 1*10 -2 Degree / second;

[0059] The second deviation angle change rate range is not less than -2*10 -2 degrees / second and less than -1*10 -2 degrees / second, and greater than 1*10 -2 degrees / second and not more than 2*10 -2 Degree / second;

[0060] The third deviation angle change rate range is not less than -3*10 -2 degrees / second and less than -2*10 -2 degrees / second, and greater than 2*10 -2 degrees / second and no more than 3*10 -2 Degree / second;

[0061] The first ratio control parameter range is 150-180, the second ratio control parameter range is 180-210, and the third ratio control parameter range is 210-240;

[0062] The first integral control parameter range is 0.1-0.25, the second integral control parameter range is 0.25-0.4, and the third integral control parameter range is 0.4-0.55;

[0063] The first differential control parameter range is 0.2-0.6, the second differential control parameter range is 0.6-1, and the third differential control parameter range is 1-1.4.

[0064] Compared with the prior art, the beneficial effect of the cruise ship's suspended sun landscape system provided by the embodiment of the present invention is that it combines the cruise ship with the natural landscape, so that when passengers watch the sunset in the suspended sun landscape corridor, they can see the sun falling in the vertical direction, and can keep the sun falling in the vertical center line along the suspended sun landscape corridor, always maintaining the combined viewing experience of the sun and the suspended sun landscape corridor, maintaining a beautiful visual effect, and presenting a visual experience different from the visual effect of watching the sunset on land; at the same time, the configured sun tracking can perform rough tracking and precise tracking respectively, which not only improves the tracking accuracy, but also improves the tracking speed, and maintains the relative position relationship between the sun position and the suspended sun landscape corridor; in addition, the control system adopts two proportional integral differential controllers capable of relative fuzzy control, decouples the influence of the earth's rotation and wind and waves on tracking, reduces the complexity of fuzzy rules, and improves the real-time performance of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 A schematic diagram of a sun-hanging landscape system for a cruise ship provided by an embodiment of the present invention;

[0066] Figure 2 for Figure 1 A-direction view in the figure;

[0067] Figure 3 A control system logic diagram of a cruise ship's sun-hanging landscape system provided in an embodiment of the present invention.

[0068] Reference numerals

[0069] 1. Sun tracker; 2. Hull; 3. Bow thruster; 4. Left thruster; 5. Right thruster. DETAILED DESCRIPTION

[0070] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0071] Various aspects and features of the present application are described herein with reference to the accompanying drawings.

[0072] These and other characteristics of the present application will become apparent from the following description of a preferred form of embodiment given as a non-limiting example with reference to the accompanying drawings.

[0073] It should also be understood that, although the present application has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the present application that have the features described in the claims and are therefore within the scope of protection defined thereby.

[0074] The above and other aspects, features and advantages of the present application will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.

[0075] Specific embodiments of the present application are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments applied for are merely examples of the present application, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to determine the true intent based on the user's historical operations and to avoid unnecessary or redundant details that make the present application unclear. Therefore, the specific structural and functional details applied for herein are not intended to be limiting, but are merely used as the basis and representative basis for the claims to teach those skilled in the art to use the present application in a variety of ways with substantially any suitable detailed structure.

[0076] This specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present application.

[0077] The embodiment of the present invention provides a sun-hanging viewing system for a cruise ship, wherein a sun-hanging viewing corridor is provided in the middle of the deck of the cruise ship, and the center line of the sun-hanging viewing corridor along its length direction coincides with the center line of the hull of the cruise ship. Figures 1 to 3 As shown, the hanging sun landscape system includes:

[0078] A sun tracker 1, which is disposed at the top of the stern of the hull 2 ​​and located on the centerline of the hull, and is used to measure the deviation between the centerline of the hull and the position of the sun;

[0079] A control system, which is used to control the bow thruster 3 of the hull 2 ​​to adjust the position of the hull 2 ​​through a first proportional-integral-differential controller of the control system based on the comparison between the deviation and the set value, or control the left thruster 4 located on the port side of the stern of the hull 2 ​​or the right thruster 5 located on the starboard side of the stern of the hull 2 ​​to adjust the position of the hull 2 ​​through a second proportional-integral-differential controller of the control system, so that the sun is located on the extension line of the centerline of the hull and descends along the vertical centerline of the suspended sun viewing corridor.

[0080] In some embodiments of the present invention, if the deviation is not greater than the set value, the bow thruster 3 of the hull 2 ​​is controlled by the first proportional integral differential controller to adjust the position of the hull 2.

[0081] In this embodiment, the first proportional-integral-differential controller and the bow thruster 3 are used to compensate for the rotation of the earth, and the power of the bow thruster 3 is smaller than that of the left thruster 4 and the right thruster 5 .

[0082] In this embodiment, if the deviation is greater than the set value, the second proportional-integral-differential controller is used to control the left propeller 4 or the right propeller 5 to adjust the position of the hull 2, and the left propeller 4 or the right propeller 5 is used to compensate for the impact of wind and waves on the hull 2, wherein the bow propeller 3 belongs to rough tracking, and the left propeller 4 and the right propeller 5 belong to precise tracking.

[0083] In some embodiments of the present invention, the first proportional-integral-differential controller and the second proportional-integral-differential controller are used to adjust corresponding proportional control parameters, integral control parameters and differential control parameters in real time according to the deviation and the deviation change rate of the deviation.

[0084] In some embodiments of the present invention, the real-time adjustment of corresponding proportional control parameters, integral control parameters and differential control parameters according to the deviation and the deviation change rate of the deviation includes:

[0085] When the deviation is not greater than the set value;

[0086] If the deviation is within the first set deviation angle range, and the deviation change rate is within the first deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the first proportional control parameter range, the integral control parameter is within the first integral control parameter range, and the differential control parameter is within the first differential control parameter range;

[0087] If the deviation is within the first set deviation angle range, and the deviation change rate is within the second deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the first proportional control parameter range, the integral control parameter is within the first integral control parameter range, and the differential control parameter is within the second differential control parameter range;

[0088] If the deviation is within the first set deviation angle range, and the deviation change rate is within the third deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the first proportional control parameter range, the integral control parameter is within the first integral control parameter range, and the differential control parameter is within the third differential control parameter range;

[0089] If the deviation is within the second set deviation angle range, and the deviation change rate is within the first deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the second proportional control parameter range, the integral control parameter is within the second integral control parameter range, and the differential control parameter is within the first differential control parameter range;

[0090] If the deviation is within the second set deviation angle range, and the deviation change rate is within the second deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the second proportional control parameter range, the integral control parameter is within the second integral control parameter range, and the differential control parameter is within the second differential control parameter range;

[0091] If the deviation is within the second set deviation angle range, and the deviation change rate is within the third deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the second proportional control parameter range, the integral control parameter is within the third integral control parameter range, and the differential control parameter is within the third differential control parameter range;

[0092] If the deviation is within the third set deviation angle range, and the deviation change rate is within the first deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the third proportional control parameter range, the integral control parameter is within the third integral control parameter range, and the differential control parameter is within the first differential control parameter range;

[0093] If the deviation is within the third set deviation angle range, and the deviation change rate is within the second deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the third proportional control parameter range, the integral control parameter is within the third integral control parameter range, and the differential control parameter is within the second differential control parameter range;

[0094] If the deviation is within the third set deviation angle range, and the deviation change rate is within the third deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the third proportional control parameter range, the integral control parameter is within the third integral control parameter range, and the differential control parameter is within the third differential control parameter range;

[0095] Wherein, the deviation angles in the first set deviation angle range, the second set deviation angle range and the third set deviation angle range increase in sequence;

[0096] The deviation angle change rates in the first deviation angle change rate range, the second deviation angle change rate range, and the third deviation angle change rate range increase in sequence;

[0097] The proportional control parameters in the first proportional control parameter range, the second proportional control parameter range and the third proportional control parameter range increase in sequence;

[0098] The integral control parameters in the first integral control parameter range, the second integral control parameter range and the third integral control parameter range increase in sequence;

[0099] The differential control parameters in the first differential control parameter range, the second differential control parameter range and the third differential control parameter range increase in sequence.

[0100] In this embodiment, the absolute value of the set value is 1 degree, wherein the sun is on the left side of the centerline of the hull as a positive angle, and the sun is on the right side of the centerline of the hull as a negative angle;

[0101] The first setting deviation angle range is not less than -0.3 degrees and not more than 0.3 degrees;

[0102] The second setting deviation angle range is not less than -0.6 degrees and less than -0.3 degrees, and greater than 0.3 degrees and not greater than 0.6 degrees;

[0103] The third deviation angle range is not less than -1 degree and less than -0.6 degree, and greater than 0.6 degree and not greater than 1 degree;

[0104] The first deviation angle change rate range is not less than -1*10 -3 degrees / second and not more than 1*10 -3 Degree / second;

[0105] The second deviation angle change rate range is not less than -2*10 -3 degrees / second and less than -1*10 -3 degrees / second, and greater than 1*10 -3 degrees / second and no more than 2*10 -3 Degree / second;

[0106] The third deviation angle change rate range is not less than -3*10 -3 degrees / second and less than -2*10 -3 degrees / second, and greater than 2*10 -3 degrees / second and no more than 3*10 -3 Degree / second;

[0107] The first proportion control parameter range is 15-18, the second proportion control parameter range is 18-21, and the third proportion control parameter range is 21-24;

[0108] The first integral control parameter range is 0.01-0.025, the second integral control parameter range is 0.025-0.04, and the third integral control parameter range is 0.04-0.055;

[0109] The first differential control parameter range is 0.02-0.06, the second differential control parameter range is 0.06-0.1, and the third differential control parameter range is 0.1-0.14.

[0110] In some embodiments of the present invention, the real-time adjustment of corresponding proportional control parameters, integral control parameters and differential control parameters according to the deviation and the deviation change rate of the deviation includes:

[0111] When the deviation is greater than the set value;

[0112] If the deviation is within a fourth set deviation angle range, and the deviation change rate is within a fourth deviation angle change rate range, then, in real time, the proportional control parameter of the second proportional-integral-differential controller is adjusted to be within a fourth proportional control parameter range, the integral control parameter is within a fourth integral control parameter range, and the differential control parameter is within a fourth differential control parameter range;

[0113] If the deviation is within the fourth set deviation angle range, and the deviation change rate is within the fifth deviation angle change rate range, then, the proportional control parameter of the second proportional-integral-differential controller is adjusted in real time to be within the fourth proportional control parameter range, the integral control parameter is within the fourth integral control parameter range, and the differential control parameter is within the fifth differential control parameter range;

[0114] If the deviation is within the fourth set deviation angle range, and the deviation change rate is within the sixth deviation angle change rate range, then, the proportional control parameter of the second proportional-integral-differential controller is adjusted in real time to be within the fourth proportional control parameter range, the integral control parameter is within the fourth integral control parameter range, and the differential control parameter is within the sixth differential control parameter range;

[0115] If the deviation is within the fifth deviation angle range and the deviation change rate is within the fourth deviation angle change rate range, then, the proportional control parameter of the second proportional-integral-differential controller is adjusted in real time to be within the fifth proportional control parameter range, the integral control parameter is within the fifth integral control parameter range, and the differential control parameter is within the fourth differential control parameter range;

[0116] If the deviation is within the fifth set deviation angle range, and the deviation change rate is within the fifth deviation angle change rate range, then, in real time, the proportional control parameter of the second proportional-integral-differential controller is adjusted to be within the fifth proportional control parameter range, the integral control parameter is within the fifth integral control parameter range, and the differential control parameter is within the fifth differential control parameter range;

[0117] If the deviation is within the fifth deviation angle range and the deviation change rate is within the sixth deviation angle change rate range, then the proportional control parameter of the second proportional-integral-differential controller is adjusted in real time to be within the fifth proportional control parameter range, the integral control parameter is within the sixth integral control parameter range and the differential control parameter is within the sixth differential control parameter range;

[0118] If the deviation is within the sixth deviation angle range, and the deviation change rate is within the fourth deviation angle change rate range, then, the proportional control parameter of the second proportional-integral-differential controller is adjusted in real time to be within the sixth proportional control parameter range, the integral control parameter is within the sixth integral control parameter range, and the differential control parameter is within the fourth differential control parameter range;

[0119] If the deviation is within the sixth deviation angle range and the deviation change rate is within the fifth deviation angle change rate range, then, the proportional control parameter of the second proportional-integral-differential controller is adjusted in real time to be within the sixth proportional control parameter range, the integral control parameter is within the sixth integral control parameter range, and the differential control parameter is within the fifth differential control parameter range;

[0120] If the deviation is within the sixth set deviation angle range, and the deviation change rate is within the sixth deviation angle change rate range, then, the proportional control parameter of the second proportional-integral-differential controller is adjusted in real time to be within the sixth proportional control parameter range, the integral control parameter is within the sixth integral control parameter range, and the differential control parameter is within the sixth differential control parameter range;

[0121] The deviation angles in the fourth set deviation angle range, the fifth set deviation angle range and the sixth set deviation angle range increase in sequence;

[0122] The deviation angle change rates in the fourth deviation angle change rate range, the fifth deviation angle change rate range, and the sixth deviation angle change rate range increase in sequence;

[0123] The proportional control parameters in the fourth proportional control parameter range, the fifth proportional control parameter range and the sixth proportional control parameter range increase in sequence;

[0124] The integral control parameters in the fourth integral control parameter range, the fifth integral control parameter range and the sixth integral control parameter range increase in sequence;

[0125] The differential control parameters in the fourth differential control parameter range, the fifth differential control parameter range and the sixth differential control parameter range increase in sequence.

[0126] In this embodiment, the absolute value of the set value is 1 degree, wherein the sun is on the left side of the centerline of the hull as a positive angle, and the sun is on the right side of the centerline of the hull as a negative angle;

[0127] The first setting deviation angle range is not less than -1.5 degrees and less than -1 degree, and greater than 1 degree and not greater than 1.5 degrees;

[0128] The second setting deviation angle range is not less than -2 degrees and less than -1.5 degrees, and greater than 1.5 degrees and not greater than 2 degrees;

[0129] The third set deviation angle range is not less than -3 degrees and less than -2 degrees, and greater than 2 and not greater than 3 degrees;

[0130] The first deviation angle change rate range is not less than -1*10 -2 degrees / second and not more than 1*10 -2 Degree / second;

[0131] The second deviation angle change rate range is not less than -2*10 -2 degrees / second and less than -1*10 -2 degrees / second, and greater than 1*10 -2 degrees / second and no more than 2*10 -2 Degree / second;

[0132] The third deviation angle change rate range is not less than -3*10 -2 degrees / second and less than -2*10 -2 degrees / second, and greater than 2*10 -2 degrees / second and no more than 3*10 -2 Degree / second;

[0133] The first ratio control parameter range is 150-180, the second ratio control parameter range is 180-210, and the third ratio control parameter range is 210-240;

[0134] The first integral control parameter range is 0.1-0.25, the second integral control parameter range is 0.25-0.4, and the third integral control parameter range is 0.4-0.55;

[0135] The first differential control parameter range is 0.2-0.6, the second differential control parameter range is 0.6-1, and the third differential control parameter range is 1-1.4.

[0136] In the above embodiment, since the earth's rotation speed is constant, and there are many uncertainties in the impact of wind and waves on the hull 2, the first proportional integral differential controller and the second proportional integral differential controller are both fuzzy proportional integral differential controllers, and their setting ranges are very different.

[0137] It can be seen from the above technical solution that the beneficial effect of the cruise ship's suspended sun landscape system provided by the above embodiment of the present invention is that it combines the cruise ship with the natural landscape, so that when passengers watch the sunset in the suspended sun landscape corridor, they can see the sun falling in the vertical direction, and can keep the sun falling in the vertical center line along the suspended sun landscape corridor, always maintaining the combined viewing experience of the sun and the suspended sun landscape corridor, maintaining a beautiful visual effect, and presenting a visual experience different from the visual effect of watching the sunset on land; at the same time, the configured sun tracking can perform rough tracking and precise tracking respectively, which not only improves the tracking accuracy, but also improves the tracking speed, and maintains the relative position relationship between the sun position and the suspended sun landscape corridor; in addition, the control system adopts two proportional integral differential controllers capable of relative fuzzy control, decouples the influence of the earth's rotation and wind and waves on tracking, reduces the complexity of fuzzy rules, and improves the real-time performance of the system.

[0138] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. A sun-hanging viewing system for a cruise ship, wherein a sun-hanging viewing corridor is provided on the deck of the cruise ship, and the centerline of the sun-hanging viewing corridor coincides with the centerline of the hull of the cruise ship, characterized in that: The hanging sun landscape system includes: A sun tracker, which is disposed at the top of the stern of the hull and located on the centerline of the hull, and is used to measure the deviation between the centerline of the hull and the position of the sun; A control system, which is used to control the bow thruster of the hull to adjust the position of the hull through a first proportional-integral-differential controller of the control system, or control the left thruster located on the port side of the stern of the hull or the right thruster located on the starboard side of the stern of the hull to adjust the position of the hull through a second proportional-integral-differential controller of the control system based on the comparison between the deviation and the set value, so that the sun is located on the extension line of the centerline of the hull and descends along the centerline of the vertical direction of the sun-hanging viewing corridor; If the deviation is not greater than the set value, adjusting the position of the hull by means of the bow thruster of the hull; If the deviation is greater than the set value, the position of the hull is adjusted by controlling the left propeller or the right propeller at the stern of the hull, and the power of the bow propeller is smaller than that of the left propeller and the right propeller.

2. The cruise ship's sun-hanging landscape system according to claim 1, characterized in that: If the deviation is not greater than the set value, the bow thruster of the hull is controlled by the first proportional-integral-differential controller to adjust the position of the hull.

3. The cruise ship's sun-hanging landscape system according to claim 2, characterized in that: The first PID controller and the bow thruster are used to compensate for the rotation of the earth.

4. The cruise ship's sun-hanging landscape system according to claim 1, characterized in that: If the deviation is greater than the set value, the second proportional-integral-differential controller is used to control the left propeller or the right propeller to adjust the position of the hull, and the left propeller or the right propeller is used to compensate for the influence of wind and waves on the hull.

5. The cruise ship's sun-hanging landscape system according to claim 1, characterized in that: The first proportional-integral-differential controller and the second proportional-integral-differential controller are both used to adjust corresponding proportional control parameters, integral control parameters and differential control parameters in real time according to the deviation and the deviation change rate of the deviation.

6. The cruise ship's sun-hanging landscape system according to claim 5, characterized in that: The method of adjusting corresponding proportional control parameters, integral control parameters and differential control parameters in real time according to the deviation and the deviation change rate of the deviation includes: When the deviation is not greater than the set value; If the deviation is within the first set deviation angle range, and the deviation change rate is within the first deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the first proportional control parameter range, the integral control parameter is within the first integral control parameter range, and the differential control parameter is within the first differential control parameter range; If the deviation is within the first set deviation angle range, and the deviation change rate is within the second deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the first proportional control parameter range, the integral control parameter is within the first integral control parameter range, and the differential control parameter is within the second differential control parameter range; If the deviation is within the first set deviation angle range, and the deviation change rate is within the third deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the first proportional control parameter range, the integral control parameter is within the first integral control parameter range, and the differential control parameter is within the third differential control parameter range; If the deviation is within the second set deviation angle range, and the deviation change rate is within the first deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the second proportional control parameter range, the integral control parameter is within the second integral control parameter range, and the differential control parameter is within the first differential control parameter range; If the deviation is within the second set deviation angle range, and the deviation change rate is within the second deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the second proportional control parameter range, the integral control parameter is within the second integral control parameter range, and the differential control parameter is within the second differential control parameter range; If the deviation is within the second set deviation angle range, and the deviation change rate is within the third deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the second proportional control parameter range, the integral control parameter is within the third integral control parameter range, and the differential control parameter is within the third differential control parameter range; If the deviation is within the third set deviation angle range, and the deviation change rate is within the first deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the third proportional control parameter range, the integral control parameter is within the third integral control parameter range, and the differential control parameter is within the first differential control parameter range; If the deviation is within the third set deviation angle range, and the deviation change rate is within the second deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the third proportional control parameter range, the integral control parameter is within the third integral control parameter range, and the differential control parameter is within the second differential control parameter range; If the deviation is within the third set deviation angle range, and the deviation change rate is within the third deviation angle change rate range, then, the proportional control parameter of the first proportional-integral-differential controller is adjusted in real time to be within the third proportional control parameter range, the integral control parameter is within the third integral control parameter range, and the differential control parameter is within the third differential control parameter range; Wherein, the deviation angles in the first set deviation angle range, the second set deviation angle range and the third set deviation angle range increase in sequence; The deviation angle change rates in the first deviation angle change rate range, the second deviation angle change rate range, and the third deviation angle change rate range increase in sequence; The proportional control parameters in the first proportional control parameter range, the second proportional control parameter range and the third proportional control parameter range increase in sequence; The integral control parameters in the first integral control parameter range, the second integral control parameter range and the third integral control parameter range increase in sequence; The differential control parameters in the first differential control parameter range, the second differential control parameter range and the third differential control parameter range increase in sequence.

7. The cruise ship's sun-hanging landscape system according to claim 6, characterized in that: The absolute value of the set value is 1 degree, wherein the sun is on the left side of the centerline of the hull as a positive angle, and the sun is on the right side of the centerline of the hull as a negative angle; The first setting deviation angle range is not less than -0.3 degrees and not more than 0.3 degrees; The second setting deviation angle range is not less than -0.6 degrees and less than -0.3 degrees, and greater than 0.3 degrees and not greater than 0.6 degrees; The third deviation angle range is not less than -1 degree and less than -0.6 degree, and greater than 0.6 degree and not greater than 1 degree; The first deviation angle change rate range is not less than -1*10 -3 degrees / second and not more than 1*10 -3 Degree / second; The second deviation angle change rate range is not less than -2*10 -3 degrees / second and less than -1*10 -3 degrees / second, and greater than 1*10 -3 degrees / second and not more than 2*10 -3 Degree / second; The third deviation angle change rate range is not less than -3*10 -3 degrees / second and less than -2*10 -3 degrees / second, and greater than 2*10 -3 degrees / second and no more than 3*10 -3 Degree / second; The first proportion control parameter range is 15-18, the second proportion control parameter range is 18-21, and the third proportion control parameter range is 21-24; The first integral control parameter range is 0.01-0.025, the second integral control parameter range is 0.025-0.04, and the third integral control parameter range is 0.04-0.055; The first differential control parameter range is 0.02-0.06, the second differential control parameter range is 0.06-0.1, and the third differential control parameter range is 0.1-0.

14.

8. The cruise ship's sun-hanging landscape system according to claim 7, characterized in that: The method of adjusting corresponding proportional control parameters, integral control parameters and differential control parameters in real time according to the deviation and the deviation change rate of the deviation includes: When the deviation is greater than the set value; If the deviation is within a fourth set deviation angle range, and the deviation change rate is within a fourth deviation angle change rate range, then, in real time, the proportional control parameter of the second proportional-integral-differential controller is adjusted to be within a fourth proportional control parameter range, the integral control parameter is within a fourth integral control parameter range, and the differential control parameter is within a fourth differential control parameter range; If the deviation is within the fourth set deviation angle range, and the deviation change rate is within the fifth deviation angle change rate range, then, the proportional control parameter of the second proportional-integral-differential controller is adjusted in real time to be within the fourth proportional control parameter range, the integral control parameter is within the fourth integral control parameter range, and the differential control parameter is within the fifth differential control parameter range; If the deviation is within the fourth set deviation angle range, and the deviation change rate is within the sixth deviation angle change rate range, then, the proportional control parameter of the second proportional-integral-differential controller is adjusted in real time to be within the fourth proportional control parameter range, the integral control parameter is within the fourth integral control parameter range, and the differential control parameter is within the sixth differential control parameter range; If the deviation is within the fifth deviation angle range and the deviation change rate is within the fourth deviation angle change rate range, then, the proportional control parameter of the second proportional-integral-differential controller is adjusted in real time to be within the fifth proportional control parameter range, the integral control parameter is within the fifth integral control parameter range, and the differential control parameter is within the fourth differential control parameter range; If the deviation is within the fifth set deviation angle range, and the deviation change rate is within the fifth deviation angle change rate range, then, in real time, the proportional control parameter of the second proportional-integral-differential controller is adjusted to be within the fifth proportional control parameter range, the integral control parameter is within the fifth integral control parameter range, and the differential control parameter is within the fifth differential control parameter range; If the deviation is within the fifth deviation angle range and the deviation change rate is within the sixth deviation angle change rate range, then the proportional control parameter of the second proportional-integral-differential controller is adjusted in real time to be within the fifth proportional control parameter range, the integral control parameter is within the sixth integral control parameter range and the differential control parameter is within the sixth differential control parameter range; If the deviation is within the sixth deviation angle range, and the deviation change rate is within the fourth deviation angle change rate range, then, the proportional control parameter of the second proportional-integral-differential controller is adjusted in real time to be within the sixth proportional control parameter range, the integral control parameter is within the sixth integral control parameter range, and the differential control parameter is within the fourth differential control parameter range; If the deviation is within the sixth deviation angle range and the deviation change rate is within the fifth deviation angle change rate range, then, the proportional control parameter of the second proportional-integral-differential controller is adjusted in real time to be within the sixth proportional control parameter range, the integral control parameter is within the sixth integral control parameter range, and the differential control parameter is within the fifth differential control parameter range; If the deviation is within the sixth set deviation angle range, and the deviation change rate is within the sixth deviation angle change rate range, then, the proportional control parameter of the second proportional-integral-differential controller is adjusted in real time to be within the sixth proportional control parameter range, the integral control parameter is within the sixth integral control parameter range, and the differential control parameter is within the sixth differential control parameter range; The deviation angles in the fourth set deviation angle range, the fifth set deviation angle range and the sixth set deviation angle range increase in sequence; The deviation angle change rates in the fourth deviation angle change rate range, the fifth deviation angle change rate range, and the sixth deviation angle change rate range increase in sequence; The proportional control parameters in the fourth proportional control parameter range, the fifth proportional control parameter range and the sixth proportional control parameter range increase in sequence; The integral control parameters in the fourth integral control parameter range, the fifth integral control parameter range and the sixth integral control parameter range increase in sequence; The differential control parameters in the fourth differential control parameter range, the fifth differential control parameter range and the sixth differential control parameter range increase in sequence.

9. The cruise ship's sun-hanging landscape system according to claim 8, characterized in that: The absolute value of the set value is 1 degree, wherein the sun is on the left side of the centerline of the hull as a positive angle, and the sun is on the right side of the centerline of the hull as a negative angle; The first setting deviation angle range is not less than -1.5 degrees and less than -1 degree, and greater than 1 degree and not greater than 1.5 degrees; The second setting deviation angle range is not less than -2 degrees and less than -1.5 degrees, and greater than 1.5 degrees and not greater than 2 degrees; The third set deviation angle range is not less than -3 degrees and less than -2 degrees, and greater than 2 and not greater than 3 degrees; The first deviation angle change rate range is not less than -1*10 -2 degrees / second and not more than 1*10 -2 Degree / second; The second deviation angle change rate range is not less than -2*10 -2 degrees / second and less than -1*10 -2 degrees / second, and greater than 1*10 -2 degrees / second and not more than 2*10 -2 Degree / second; The third deviation angle change rate range is not less than -3*10 -2 degrees / second and less than -2*10 -2 degrees / second, and greater than 2*10 -2 degrees / second and no more than 3*10 -2 Degree / second; The first ratio control parameter range is 150-180, the second ratio control parameter range is 180-210, and the third ratio control parameter range is 210-240; The first integral control parameter range is 0.1-0.25, the second integral control parameter range is 0.25-0.4, and the third integral control parameter range is 0.4-0.55; The first differential control parameter range is 0.2-0.6, the second differential control parameter range is 0.6-1, and the third differential control parameter range is 1-1.4.

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