Single-propeller based ship control method, ship system, and readable storage medium
By employing a single-thruster-based ship control method, and utilizing coordinate value transformation and time feedback from a rocker device, open-loop yaw control of a single-thruster ship was achieved. This solved the problems of complexity in traditional control and applicability of existing systems, and improved control safety and precision.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- ZHUHAI XIAOJING DAHE TECH CO LTD
- Filing Date
- 2026-06-02
- Publication Date
- 2026-07-03
AI Technical Summary
Traditional single-propeller ships are complex to operate and have a high workload for the pilots. Existing control systems are not suitable for single-propeller ships, resulting in safety hazards and difficulties in position control.
A single-thruster-based ship control method is adopted. By acquiring the coordinate values of the rocker device and converting them into radial displacement and circumferential angle, and combining the turning parameters and time to calculate the cycle phase, the switching between forward and backward phases is realized. It relies on the current time for feedback and does not require gyroscopes or heading sensors to control the ship's open-loop rotation.
It simplifies ship handling, reduces operational workload, improves safety and position control accuracy, and saves on computational load and sensor usage.
Smart Images
Figure CN122324239A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the technical field of ship maneuvering, specifically to a ship control method, ship system, and readable storage medium based on a single propeller. Background Technology
[0002] Traditional single-propulsion vessels, such as small workboats, yachts, and workboats equipped with outboard motors, outboard engines, or Z-drive systems, generally employ an independent dual-lever control mode. One throttle lever controls the engine speed and clutch to achieve forward, neutral, and reverse movements, while a steering wheel (or a separate rudder handle) controls the rudder angle to change course. This classic control method has significant drawbacks: First, when performing complex maneuvers such as berthing and unberthing, turning in narrow channels, and obstacle avoidance, the operator must coordinate the operation of multiple controls with both hands and feet, resulting in extremely high mental stress, which can easily lead to operational errors and pose safety hazards.
[0003] In the existing technology, there are single-lever control systems for multi-thrust ships or engineering machinery. However, the core of their control algorithm lies in solving the problem of spatial vector synthesis of multiple thrust sources. Since multi-thrust ships can control the ship's steering through the differential speed of multiple thrusters, while single-thrust ships can only control the course through the rudder, the single-lever control system for multi-thrust ships or engineering machinery is not suitable for single-thrust ships with only one thruster and one rudder. When multi-thrust ships are applied to single-thrust ships, the single-thrust ship may not be able to reach the specific position or may not be able to straighten itself when it reaches the specific position.
[0004] A current podded propulsion ship maneuvering vector control device consists of a single-handle controller, a podded propeller, a lateral thruster, and a podded control system. The single-handle controller is mounted on the ship's bridge, the podded propeller is mounted on the bottom of the ship, the lateral thruster is mounted in the bow tunnel, and the podded control system is located inside the ship's cabin. The single-handle controller is connected to the podded control system via wireless signals, and the podded propeller and lateral thruster are connected to the podded control system via signal lines. However, this control device includes multiple controllers and is not suitable for single-propeller ships with only one propeller and one rudder. Summary of the Invention
[0005] The first objective of this invention is to provide a single-propeller-based ship control method applicable to ships with only one propeller and one rudder.
[0006] A second objective of the present invention is to provide a ship system that implements the above-described ship control method based on a single propeller.
[0007] A third objective of this invention is to provide a readable storage medium for implementing the above-described single-thruster-based ship control method.
[0008] To achieve the first objective of this invention, the present invention provides a ship control method based on a single propeller, applied to a ship system including a single propeller, a rudder, and a rocker arm. The method includes: acquiring the coordinate values of the rocker arm; converting the coordinate values into radial displacement and circumferential angle; determining a ship control mode based on the circumferential angle, the ship control mode including a turning control mode; when the ship control mode is determined to be a turning control mode, calculating turning parameters and turning parameter time based on the circumferential angle, the turning parameters including rotational speed and rudder angle; calculating a cyclic phase based on the turning parameter time and a first current time; confirming the forward and backward phases of the current time based on the cyclic phase; confirming the directions of the rotational speed and rudder angle, wherein the directions of the rotational speed and rudder angle in the forward phase are opposite to those in the backward phase; recalculating and updating the cyclic phase again based on the updated current time and turning parameter time; outputting the rotational speed to the single propeller and the rudder angle to the rudder.
[0009] As can be seen from the above scheme, since a ship system with only one propeller needs to rely on the rudder for steering, when obtaining the coordinate values of the joystick device, the ship needs to straighten itself when reaching the position of the joystick device's coordinate values, especially during large turns. Therefore, in a ship system with only one propeller, it is necessary to set cyclic parameters to divide the ship's movement into forward and backward phases, thereby ensuring the ship's straightening. Furthermore, this scheme relies on current time and turning parameter time for feedback, achieving open-loop turning control without the need for gyroscopes or heading sensors, thus saving computational load and the use of sensors.
[0010] In a further proposed solution, the turning control modes include a left-turn control mode and a right-turn control mode.
[0011] In a further embodiment, when determining the ship's control mode as a turning control mode, the steps include: confirming that the ship's control mode is a right turn control mode; and confirming the forward and backward phases of the current time based on the cycle phase, including: determining whether the first cycle phase is less than one; if so, confirming that the current time is in the forward phase, confirming that the direction of the rotation speed in the right turn control mode is the forward direction, and confirming that the direction of the rudder angle in the right turn control mode is the right turn direction; if the first cycle phase is greater than one, confirming that the current time is in the backward phase, confirming that the direction of the rotation speed in the right turn control mode is the backward direction, and confirming that the direction of the rudder angle in the right turn control mode is the left turn direction.
[0012] It can be seen that because the right turn control mode first turns right to move forward and then turns left to move backward, the ship is straightened when it reaches the preset position, making it easier to control next time.
[0013] In a further embodiment, when determining the ship's control mode as a turning control mode, the steps include: confirming that the ship's control mode is a left turn control mode; and confirming the forward and backward phases of the current time based on the cycle phase, including: determining whether the second cycle phase is less than one; if so, confirming that the current time is in the forward phase, confirming that the direction of the rotation speed in the left turn control mode is the forward direction, and confirming that the direction of the rudder angle in the left turn control mode is the left turn direction; if the second cycle phase is greater than one, confirming that the current time is in the backward phase, confirming that the direction of the rotation speed in the left turn control mode is the backward direction, and confirming that the direction of the rudder angle in the left turn control mode is the right turn direction.
[0014] It can be seen that because the left turn control mode first turns left to move forward and then turns right to move backward, the ship is straightened when it reaches the preset position, making it easier to control next time.
[0015] In a further scheme, the ship control mode includes a linear control mode. When the ship control mode is determined to be a linear control mode, a linear mapping calculation is performed based on the coordinate values of the rocker device to obtain the speed and rudder angle of the linear control mode.
[0016] Therefore, in linear control mode, the ship does not need to return to center, so the ship can directly calculate the speed and rudder angle of linear control mode based on the coordinate values of the rocker arm.
[0017] In a further scheme, the steps to convert coordinate values into radial displacement and circumferential angle include: normalizing the coordinate values; and calculating polar coordinate parameters for the processed coordinate values, which include radial displacement and circumferential angle.
[0018] Therefore, converting coordinate values into radial displacement and circumferential angle is more in line with the setup of a single thruster and a single rudder blade.
[0019] In a further proposed solution, before determining the ship control mode based on the circumferential angle, the following steps are performed: determining whether the radial displacement is less than a preset threshold; if the radial displacement is greater than the preset threshold, the ship control mode is determined based on the circumferential angle; if the radial displacement is less than the preset threshold, the system enters an idle mode and the coordinate values of the joystick device are not processed.
[0020] Therefore, this step can prevent users from accidentally touching coordinate values.
[0021] In a further scheme, the step of recalculating the updated cycle phase based on the updated current time and the turning parameter time includes: determining whether the updated current time is greater than the turning parameter time; if so, the updated cycle phase is not calculated; if the updated current time is less than the turning parameter time, the updated cycle phase is calculated.
[0022] Therefore, by updating the current time, the ship can determine whether to move forward or backward, thereby controlling its movement.
[0023] To achieve the second objective, the present invention provides a ship system comprising a single thruster, a rudder, a rocker arm, a processor, and a memory. The memory stores a computer program, which, when executed, implements the aforementioned ship control method based on a single thruster.
[0024] To achieve the third objective, the present invention provides a readable storage medium on which a computer program is stored, which, when executed, implements the above-described ship control method based on a single propeller. Attached Figure Description
[0025] Figure 1 This is a system structure block diagram of an embodiment of the ship system of the present invention.
[0026] Figure 2 This is a flowchart of an embodiment of the ship control method based on a single propeller of the present invention.
[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments. Detailed Implementation
[0028] The ship control method based on a single propeller provided by this invention calculates turning parameters and turning time, and then calculates the cycle phase to determine the forward and reverse phases, thereby straightening the ship. Open-loop yaw control is achieved through time parameters, thus saving computational load and the use of sensors.
[0029] Ship system example: See Figure 1 The ship system in this embodiment includes a processor 11, a single thruster 12, a rudder 13, a joystick device 14, and a memory 15. The processor 11 receives the coordinate values from the joystick device 14, performs calculations, and outputs the rotational speed to the single thruster 12 and the rudder angle to the rudder 13. The memory 15 stores a computer program, which, when executed, implements the method of this embodiment of ship control based on a single thruster. The joystick device 14 is a known remote control handle or joystick; by moving the joystick, the X and Y values of its two-dimensional coordinate system can be acquired.
[0030] Example of a ship control method based on a single thruster: See Figure 2 In this embodiment, step S11 is first executed to obtain the coordinate values of the joystick device, and then the coordinate values are converted into radial displacement and circumferential angle. After obtaining the coordinate values (X, Y) of the joystick device, the coordinate values are normalized. The normalized coordinate values are (x, y). , ,in, This represents the minimum coordinate value of the joystick mechanism on the X-axis. This represents the maximum coordinate value of the joystick device on the X-axis. This represents the minimum coordinate value of the joystick mechanism on the Y-axis. This represents the maximum Y-axis coordinate value of the joystick device. Polar coordinate parameters are then calculated from the processed coordinate values. and The radial displacement is r, and the circumferential angle is θ.
[0031] Then, it is determined whether the radial displacement is less than a preset threshold. If the radial displacement is less than the preset threshold, the system enters idle mode and does not process the coordinate values of the joystick device. The preset threshold is 0.1.
[0032] If the radial displacement exceeds a preset threshold, step S12 is executed to determine whether the ship control mode is a turning control mode, i.e., the ship control mode is determined based on the circumferential angle. Specifically, when the circumferential angle is between 0 and 30 degrees, a right turn control mode is used; when the circumferential angle is between 150 and 270 degrees, a left turn control mode is used; and when the circumferential angle is between 30 and 150 degrees and between 180 and 360 degrees, a linear control mode is used.
[0033] If the ship's control mode is turning control mode, execute step S13 to calculate the turning parameters and turning parameter time based on the circumferential angle.
[0034] When confirming that the ship's control mode is right turn control mode, the normalized ratio of the circumferential angle of the right turn control mode is first calculated, i.e. α_R is the right turn angle proportional coefficient. Then, the turning parameters of the right turn control mode are calculated, i.e. , ,in, The engine speed for right turn control mode. The preset maximum thruster speed, The rudder angle is set for the right turn control mode. Then, the turning parameter time for the right turn control mode is calculated. .in, This refers to the turning parameter time in the right turn control mode.
[0035] After calculating the turning parameters and turning time based on the circumferential angle, step S14 is executed, followed by calculating the cyclic phase. When the ship's control mode is confirmed to be right turn control mode, the cyclic phase is the first cyclic phase. .in, The duration of the right turn control mode. , For the current time, This is the start time for the right turn control mode. This is the cycle time for the right turn control mode. or Seconds, when the phase of the first cycle is less than 1, it is confirmed that the current time is in the forward phase. , , The engine speed for right turn control mode after confirming the direction. The rudder angle for the right turn control mode after confirming the direction. The plus sign indicates that the direction of the rotation speed in the right turn control mode is the forward direction. The plus sign indicates that the direction of the rudder blade angle in the right turn control mode is the right turn direction.
[0036] When the first loop action is greater than 1, it is confirmed that the current time is in the backtracking phase. , . The negative sign indicates that the direction of the rotation speed in the right turn control mode is the reverse direction. The negative sign indicates that the direction of the rudder angle in the right turn control mode is the left turn direction.
[0037] When confirming that the ship's control mode is left turn control mode, the normalized ratio of the left turn control mode is first calculated, i.e. , This is the left turn angle proportional coefficient. Then, the turning parameters for the left turn control mode are calculated, i.e. , ,in, The engine speed for right turn control mode. The preset maximum thruster speed, The rudder angle is set for the left turn control mode. Then, the turning parameter time for the left turn control mode is calculated. .in, This refers to the turning parameter time in the left turn control mode.
[0038] When calculating the cycle phase in step S14, if it is confirmed that the ship control mode is the left turn control mode, the cycle phase is the second cycle phase. .in, The duration of the left turn control mode. t_now is the current time. This is the start time for the left turn control mode. This is the cycle time for the left turn control mode. or Seconds. When the second cycle phase is less than 1, it is confirmed that the current time is in the forward phase. , , To confirm the left turn control mode speed after direction confirmation, The rudder angle for the right turn control mode after confirming the direction. The plus sign indicates that the direction of the rotation speed in the left-turn control mode is the forward direction. The negative sign confirms that the direction of the rudder angle in the left turn control mode is the left turn direction.
[0039] When the second loop behavior is greater than 1, at this time , . The negative sign indicates that the rotation speed in the left-turn control mode is in the reverse direction. The positive sign confirms that the direction of the rudder angle in the left turn control mode is the right turn direction.
[0040] If the ship control mode in step S12 is not the turning control mode, then step S16 is executed to confirm that the ship control mode is the linear control mode, that is, the ship needs to travel a certain distance.
[0041] After confirming that the ship's control mode is linear control mode, step S17 is executed. Linear mapping calculations are performed based on the coordinate values of the rocker arm to obtain the speed and rudder angle for the linear control mode. In the linear mapping calculation, the speed for the linear control mode is... The rudder angle in linear control mode is ,in, The preset maximum thruster speed, This is the preset maximum rudder blade angle. Wherein, , Then, the speed and rudder angle in the linear control mode are limited, i.e. , .
[0042] After obtaining the turning parameters and the turning time, the turning parameters are smoothed. , . The rotational speed is the value from the previous control cycle. The rudder angle of the previous control cycle. The rotational speed calculated for the current control cycle, i.e., the rotational speed calculated by the three modes. The rudder angle calculated in the current control cycle is the rudder angle obtained from the three modes, where λ is the coefficient of the first-order low-pass filter. Then, the smoothed rotational speed is output. To a single thruster, output blade angles are smoothly processed. To the rudder blade.
[0043] After outputting the rotational speed to the single thruster and the rudder angle to the rudder, step S15 is executed to recalculate the updated cycle phase based on the updated current time and the turning parameter time. It is necessary to determine whether the updated current time is greater than the turning parameter time. If the updated current time is greater than the turning parameter time, the turning operation is complete, and the updated cycle phase is not calculated. If the updated current time is less than the turning parameter time, the updated cycle phase is calculated. The updated current time is used as the current time to calculate the updated cycle phase, and then the next rotational speed and the next turning parameter time are calculated.
[0044] Since a ship system with only one propeller relies on rudder blades for steering, when acquiring the coordinates of the joystick, the ship needs to straighten itself upon reaching that coordinate position, such as during a large turn. Therefore, in a ship system with only one propeller, cyclic parameters need to be set to divide the ship's movement into forward and backward phases, thereby ensuring the ship's straightening. Furthermore, this scheme relies on current time and turning parameter time for feedback, achieving open-loop turning control without the need for gyroscopes or heading sensors, thus saving computational resources and the use of sensors.
[0045] Examples of computer-readable storage media: The ship control method based on a single propeller in the ship apparatus described in the above embodiments can be stored in a computer-readable storage medium as a computer program. When executed by a processor, this computer program can complete the steps of the above embodiments of the ship control method based on a single propeller in the ship apparatus. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory, optical storage device, magnetic storage device, or any suitable combination thereof.
[0046] The above are merely preferred embodiments of the present invention, but the design concept of the invention is not limited thereto. Without departing from the concept of the present invention, many other equivalent embodiments may be included. Those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the protection scope of the present invention.
Claims
1. A ship control method based on a single propeller, applied to a ship system, the ship system including a single propeller, a rudder, and a rocker arm; Its features are, The method includes: The coordinate values of the rocker device are obtained, and the coordinate values are converted into radial displacement and circumferential angle. The ship control mode is determined based on the circumferential angle. The ship control mode includes a turning control mode. When the ship control mode is determined to be turning control mode, the turning parameters and turning parameter time are calculated based on the circumferential angle. The turning parameters include the rotational speed and the rudder angle. The cycle phase is calculated based on the turning parameter time and the first current time. The forward and backward phases of the current time are confirmed based on the cycle phase. The direction of the rotation speed and rudder angle is confirmed. The direction of the rotation speed and rudder angle in the forward phase is opposite to the direction of the rotation speed and rudder angle in the backward phase. The rotation speed is output to the single thruster, and the rudder angle is output to the rudder. The cycle phase is then recalculated and updated based on the current update time and the turning parameter time.
2. The ship control method based on a single propeller according to claim 1, characterized in that: The turning control modes include a left turn control mode and a right turn control mode.
3. The ship control method based on a single propeller according to claim 2, characterized in that: When the ship control mode is determined to be turning control mode, the following is included: Confirm that the ship control mode is the right turn control mode; The steps for determining the forward and backward phases of the current time based on the cyclic phase include: Determine if the phase of the first cycle is less than one. If so, confirm that the current time is in the forward phase, confirm that the direction of the speed of the right turn control mode is the forward direction, and confirm that the direction of the rudder angle of the right turn control mode is the right turn direction. If the first cycle phase is greater than one, then it is confirmed that the current time is in the reverse phase, the direction of the rotation speed in the right turn control mode is confirmed to be the reverse direction, and the direction of the rudder angle in the right turn control mode is confirmed to be the left turn direction.
4. The ship control method based on a single propeller according to claim 2, characterized in that: When the ship control mode is determined to be turning control mode, the following is included: Confirm that the ship control mode is the left turn control mode; The steps for determining the forward and backward phases of the current time based on the cyclic phase include: Determine if the second cycle phase is less than one. If so, confirm that the current time is in the forward phase, confirm that the direction of the rotation speed in the left turn control mode is the forward direction, and confirm that the direction of the rudder angle in the left turn control mode is the left turn direction. If the second cycle phase is greater than one, then it is confirmed that the current time is in the reverse phase, the direction of the rotation speed in the left turn control mode is confirmed to be the reverse direction, and the direction of the rudder angle in the left turn control mode is confirmed to be the right turn direction.
5. The ship control method based on a single propeller according to any one of claims 1 to 4, characterized in that: The ship control mode includes a linear control mode. When the ship control mode is determined to be a linear control mode, a linear mapping calculation is performed based on the coordinate values of the rocker device to obtain the rotational speed and rudder angle of the linear control mode.
6. The ship control method based on a single propeller according to any one of claims 1 to 4, characterized in that: The steps of converting the coordinate values into radial displacement and circumferential angle include: The coordinate values are then normalized. The polar coordinate parameters are calculated for the processed coordinate values. The polar coordinate parameters include radial displacement and circumferential angle.
7. The ship control method based on a single propeller according to claim 6, characterized in that: Before determining the ship control mode based on the circumferential angle, the following steps are also performed: Determine if the radial displacement is less than a preset threshold. If the radial displacement is greater than the preset threshold, determine the ship control mode based on the circumferential angle. If the radial displacement is less than a preset threshold, the system enters an idle mode and does not process the coordinate values of the joystick device.
8. The ship control method based on a single propeller according to any one of claims 1 to 4, characterized in that: The step of recalculating the updated cycle phase based on the updated current time and the turning parameter time includes: Determine whether the updated current time is greater than the turning parameter time. If so, do not calculate the update cycle phase. If the updated current time is less than the turning parameter time, calculate the update cycle phase.
9. A ship system comprising a single propeller, a rudder, a rocker arm, a processor, and a memory, wherein the memory stores a computer program that, when executed, implements the ship control method based on a single propeller as described in any one of claims 1 to 8.
10. A readable storage medium having a computer program stored thereon, which, when executed, implements the single-thrust-based ship control method according to any one of claims 1 to 8.