Hull Fixed-Point Hold Control Using Error Distance and Approach Speed
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Solution Overview
Problem
Conventional hull control systems require large-scale systems to maintain a hull at a fixed point, which is inefficient and resource-intensive.
Innovation Solution
A hull control device with error distance and approaching speed calculation modules sets throttle command values based on positional relationships and ship behavior, allowing for precise control without a large-scale system, incorporating modules for disturbance direction detection and control switching, and steering angle adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a conventional hull control system is used to maintain the hull at a fixed point, then the hull position stability is improved, but the device complexity and resource requirements increase
Solution Approach 1:
The control system is segmented into distinct functional modules: error distance calculating module, approaching speed calculating module, and command value setting module. Each module performs a specific calculation or control function, allowing the system to maintain hull position stability through coordinated operation of simplified, specialized components rather than a monolithic complex system.
Solution Approach 2:
The system continuously calculates error distance between target and actual position, determines approaching speed based on temporal changes in error distance, and adjusts throttle command values accordingly. This closed-loop feedback mechanism enables stable hull position maintenance through dynamic adjustment rather than static complex control architecture.
2Measurement precision
If a large-scale control system is deployed to maintain fixed-point hold, then the control precision is improved, but the resource consumption and system scale increase
Solution Approach 1:
The command value setting module adjusts throttle command values based on calculated error distance and approaching speed parameters. By dynamically changing control parameters according to real-time positional feedback, the system achieves high position measurement precision and control accuracy without requiring additional hardware resources or system scaling.
3Manufacturing precision
If the throttle command value is set based on error distance and approaching speed, then the control precision is improved, but the calculation complexity increases
Solution Approach 1:
The error distance and approaching speed are calculated in advance before setting the throttle command value. This preliminary calculation of positional parameters enables the command value setting module to make informed control decisions with high precision without requiring complex real-time optimization algorithms during the actual control execution phase.
Data Source
Figure 1
Figure 2
Figure 3A~3B
AI summary
A hull control device (10, 10A) is provided, which includes an error distance calculating module (221), an approaching speed calculating module (222) and a command value setting module (223). The error distance calculating module (221) calculates an error distance (e, eR, eF) between a target position (Pt, Pr, Pf) of a fixed-point hold and a ship position (P). The approaching speed calculating module (222) calculates an approaching speed (-Δe, -ΔeR, -ΔeF) of a ship to the target position (Pt, Pr, Pf). The command value setting module (223) sets a throttle command value (R) according to a combination of the error distance (e, eR, eF) and the approaching speed (-Δe, -ΔeR, -ΔeF).