Tugboat Force Vector Control for Automated Ship Maneuvering
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Solution Overview
Problem
Current methods for controlling towed convoys rely heavily on human experience and coordination, lacking an automated system to determine the optimal position and drive configuration of tugboats for efficient maneuvering, especially in complex scenarios like port entrance and exit.
Innovation Solution
A data processing system that uses a self-learning algorithm to calculate and transmit control commands for tugboats, determining the required positions, orientations, and propulsion settings based on a data model incorporating fixed and variable ship and environmental data, continuously optimizing for efficient force application.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If human captains coordinate tugboat positions and forces manually, then maneuvering control is achieved, but the process requires considerable experience and is not optimally efficient
Solution Approach 1:
The patent replaces the mechanical coordination system based on human experience with an automated computer-based control system. The control system calculates optimal positions, orientations, and force vectors for multiple tugboats using computational algorithms, substituting human decision-making with automated mechanical computation and control signal transmission.
Solution Approach 2:
The control system autonomously determines the optimal configuration of the towing convoy without requiring external human intervention for each maneuver. The system self-adjusts tugboat positions and force applications based on real-time conditions, making the coordination process self-service rather than dependent on human captains' expertise.
2Productivity
If multiple tugboats are coordinated manually through consultation between captains and pilot, then maneuvering is achieved, but time is consumed and efficiency is reduced
Solution Approach 1:
The patent replaces the time-consuming human consultation process with automated computational algorithms that instantly calculate optimal tugboat configurations. The control system processes maneuver requirements and generates coordination instructions without the delays inherent in human communication and decision-making.
Solution Approach 2:
The control system pre-calculates optimal positions and force vectors for tugboats before maneuvers begin, and continuously adjusts configurations in real-time. This preliminary and continuous optimization eliminates the need for time-consuming mid-maneuver consultations between captains and pilots.
3Loss of energy
If tugboats operate without automated optimization, then simple control is maintained, but thrust is not minimized and efficiency is reduced
Solution Approach 1:
The patent replaces manual judgment about optimal thrust application with automated computational optimization. The control system calculates the most efficient force vectors and positions for each tugboat, minimizing total thrust consumption through precise mathematical optimization rather than human estimation.
Solution Approach 2:
The control system continuously monitors the actual positions and force applications of tugboats, comparing them against optimal calculated values, and provides real-time feedback adjustments. This closed-loop feedback ensures minimal thrust consumption by constantly optimizing the configuration based on actual maneuver progress and environmental conditions.
4Productivity
If automated control system is implemented, then maneuvering efficiency is improved, but the system complexity increases
Solution Approach 1:
The patent divides the complex control task into separate functional modules: data acquisition from sensors, computational optimization algorithms, communication interfaces with individual tugboats, and execution monitoring. This segmentation of the control system into discrete functional blocks manages complexity while maintaining high efficiency.
Data Source
Figure 1~2
AI summary
The invention relates to a method for controlling a towing train consisting of a ship and at least one tug acting on the ship, comprising the steps: • a) providing data from the ship and environmental data; • b) determining the current course, the pushing vector and the inertial force of the ship and specifying a desired direction of travel of the ship with calculation of the correction force vector and the correction torque to achieve the desired direction of travel; • c) calculating the required positions, orientations and drive settings of the tug and generating control commands such that the sum of all the force vectors and torques of the tug correspond to the required correction force vector and correction torque; • d) transmitting the generated control commands to the tug and monitoring the completion of the control commands; • e) evaluating the correction force vector generated and the correction torque after completion of the control commands and generating and storing correction values in the data model.