Boat Speed Control via Dynamic Engine RPM Correction
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Solution Overview
Problem
Existing boat maneuvering control systems face challenges in achieving both responsiveness and convergence when controlling engine rotational speed to reach a target boat speed, often resulting in poor responsiveness and convergence due to delays and overshoots.
Innovation Solution
A method and system that set a target boat speed, detect the actual boat speed, and correct the base engine rotational speed based on the difference between the target and actual speeds to establish a target engine rotational speed, allowing the engine to be controlled effectively to reach the target speed, while using a map to associate target boat speeds with base engine rotational speeds for reduced processing load and improved accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If feedback control is used to control engine rotational speed based on target boat speed, then the control system is stable, but the responsiveness is poor due to delay in determining actual boat speed
Solution Approach 1:
The system performs preliminary action by pre-calculating the required engine rotational speed change based on the difference between target and actual boat speeds before the boat actually reaches the target speed. This allows the engine to be adjusted proactively rather than reactively, reducing the time delay inherent in traditional feedback control where adjustments are made only after speed deviation is detected.
Solution Approach 2:
The control system dynamically adjusts the engine rotational speed target value based on real-time speed differences. Rather than using a fixed feedback gain, the system continuously modifies the target engine speed based on the magnitude of speed deviation, allowing for more aggressive corrections when needed while maintaining stability when close to target, thus improving responsiveness without sacrificing control stability.
2Speed
If control gain is set high to improve responsiveness, then the boat reaches target speed faster, but overshoot and hunting occur reducing convergence
Solution Approach 1:
The system dynamically adjusts the target engine rotational speed based on the magnitude of speed deviation. When the speed difference is large, the system allows for larger corrections to improve responsiveness. When the speed difference becomes small, the system automatically reduces correction magnitude to prevent overshoot and hunting, thus achieving both fast response and stable convergence without requiring high fixed control gain.
Solution Approach 2:
The control system changes the target engine rotational speed parameter dynamically based on operating conditions and speed deviation magnitude. This parameter adaptation allows the system to optimize performance across different phases of acceleration, achieving high responsiveness during large deviations while maintaining stability during fine-tuning near the target speed, eliminating the need for high fixed control gain.
Data Source
AI summary
A boat maneuvering control method for a boat includes setting a target boat speed, detecting an actual boat speed of the boat, and acquiring a base engine rotational speed associated with the target boat speed that is set, correcting the base engine rotational speed according to a difference between the target boat speed and the actual boat speed so as to set the base engine rotational speed that is corrected as a target engine rotational speed, and controlling an engine based on the target engine rotational speed that is set such that the actual boat speed approaches the target boat speed.