Ship Handling Device Joystick Correction Coefficient Determination
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Solution Overview
Problem
Existing ship handling devices face challenges in determining a predetermined correction coefficient due to varying positional relationships between the side thruster and forward/backward propeller and the ship's center of gravity, as well as ship shape, which affects control mode accuracy.
Innovation Solution
The ship handling device sets a thrust difference between port and starboard propellers based on the thrust generated by the side thruster, using joystick operations to cancel out rotation moments, allowing for easy determination of correction coefficients regardless of the positional relationship and ship shape.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the control mode is determined based on the positional relationship between the side thruster and the forward/backward propeller and the center of gravity, and the ship shape, then the control accuracy is improved, but the device complexity and difficulty of determining correction coefficients increase
Solution Approach 1:
The system automatically determines correction coefficients by having the operator perform standardized joystick operations. The ship handling device itself performs the measurement and calculation tasks that would otherwise require complex external instrumentation, using the operator's input as the measurement stimulus.
Solution Approach 2:
The system uses feedback from the ship's actual response to joystick operations to automatically determine correction coefficients. The operator's joystick input generates a control signal, the ship responds with actual movement, and this feedback is used to calculate the correction coefficients that account for the specific ship's unique characteristics.
2Measurement precision
If the control mode is customized for each ship based on experimental conditions and calculations, then the control accuracy is improved, but the ease of operation decreases when the ship does not match the experimental conditions
Solution Approach 1:
The system transitions from static, pre-determined control modes to dynamic determination of correction coefficients. Instead of using fixed control parameters based on experimental conditions, the system dynamically calculates correction coefficients based on the actual ship's response to joystick operations performed at the time of operation.
Solution Approach 2:
The system changes the approach from using fixed control parameters to dynamically determining correction coefficients. The correction coefficients are not fixed values but are determined through actual measurements of the ship's response, allowing the system to adapt to different ships and conditions without requiring custom experimental campaigns.
3Adaptability or versatility
If the operator manually controls each thrust generated by the side thruster and forward/backward propeller, then the adaptability to different ship configurations is improved, but the ease of operation decreases
Solution Approach 1:
The system automatically determines the correction coefficients that account for different ship configurations, eliminating the need for the operator to manually adjust each thrust parameter. The ship handling device performs the adaptation task automatically by measuring the ship's response and calculating appropriate correction coefficients.
Solution Approach 2:
The system performs preliminary determination of correction coefficients through standardized joystick operations before actual ship maneuvering. This preliminary measurement and calculation phase establishes the adaptive control parameters needed for subsequent operations, so the operator does not need to manually adjust parameters during critical maneuvering operations.
Data Source
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AI summary
The purpose of the present invention is to provide a ship handling device 7 that can easily determine a predetermined correction coefficient regardless of the positional relationship of a side thruster 6 and a forward/backward propeller 4 with respect to the center of gravity of a ship 100 and regardless of the shape of the ship 100. The ship handling device 7 for the ship 100 provided with the forward/backward propeller 4 to which power is transmitted via a propeller shaft 4a, and the side thruster 6 for generating thrust in right and left directions of the ship 100 is provided with a joystick lever 10 for indicating a propulsion direction of the ship 100 and the magnitude of thrust by way of tilt direction and tilt angle, wherein: a lateral movement thrust is generated by the side thruster 6 in accordance with a tilting operation of the joystick lever 10; a first correction thrust ΔT1 is generated by the forward/backward propeller 4 in accordance with a rotating operation of the joystick lever 10 so as to cancel out a rotation moment generated by the lateral movement thrust; and a first correction coefficient C1 for calculating a first correction thrust ΔT1 with respect to the lateral movement thrust is determined.