Twin-Rudder Ship Docking Control for Parallel Quay Approach
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Solution Overview
Problem
Conventional autopilot systems for ships lack the ability to accurately correct the ship's position when deviating from a course line due to external forces like wind, waves, or tidal currents, particularly in congested or obstacle-rich sea areas, requiring manual intervention for precise course changes and docking.
Innovation Solution
A uniaxial twin-rudder ship with an automatic docking function, equipped with a propulsion system, observation system, and maneuvering system, which includes a bow thruster, high-lift rudders, and sensors to measure ship speed, position, and external forces, allowing for real-time correction of steering angles and thruster propulsion to maintain parallel alignment with the quay and facilitate precise lateral docking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a ship is designed to accommodate various types of containers (twenty-foot containers, forty-foot containers, vehicle carriers, roll-on/roll-off ships), then the versatility and adaptability of the ship is improved, but the structural complexity and difficulty of design increases
Solution Approach 1:
The ship is divided into multiple deck houses (first deck house, second deck house, third deck house) with independent functional areas. Each deck house can accommodate different container types independently, allowing the ship to handle various container configurations without redesigning the entire structure. The segmentation of functional spaces enables flexible adaptation to different cargo requirements.
Solution Approach 2:
The bow ramp and overall ship structure are designed to serve multiple functions: accommodating twenty-foot containers, forty-foot containers, vehicle carriers, and roll-on/roll-off operations. The universal design of the ramp and deck structures allows a single ship configuration to handle diverse container types and operational modes without requiring specialized structures for each function.
2Ease of operation
If manual docking operations are used, then the operational flexibility is maintained, but the docking time and labor requirements increase
Solution Approach 1:
The ship is equipped with an automatic docking system that enables the vessel to dock with the terminal autonomously without requiring manual pilotage or manual operation of docking equipment. The self-service docking capability reduces dependency on human operators during the critical docking phase, thereby reducing docking time and associated labor requirements while maintaining operational safety through automated control systems.
3Device complexity
If conventional single-rudder design is used, then the steering mechanism is simple, but the maneuverability and docking precision are limited
Solution Approach 1:
The steering system is segmented into two independent rudders (port rudder and starboard rudder) positioned at different locations on the ship. This dual-rudder configuration provides independent control over the ship's heading and position, enabling precise docking maneuvers. Each rudder can be operated independently or in coordination to achieve exact positioning requirements that a single rudder cannot accomplish.
Solution Approach 2:
The twin-rudder system enables dynamic and flexible steering control during docking operations. The independent operation of port and starboard rudders allows for nuanced adjustments in heading and position, providing enhanced maneuverability in confined spaces and improving docking precision compared to conventional single-rudder designs.
Data Source
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AI summary
A hull motion control unit 620 performs steering for a pinwheeling swing such that a bow distance and a stern distance that are measured by a quay separation distance measuring device are made equal to each other and the fore-and-aft direction of a ship 501 is parallel to a target quay 700, and then the ship 501 is caused to laterally approach and dock in the target quay 700 while keeping the parallel state.