Vessel Position-Holding Control for Smooth Cruise-to-Stop Transition
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Solution Overview
Problem
Vessels experience inertial force issues during the transition from automatic cruise control to fixed-point holding control, leading to potential overshooting of the target position due to residual momentum, requiring complex speed control measures to counteract this force.
Innovation Solution
A vessel control system that sets a fixed-point holding target position different from the automatic cruise stop position, allowing for a smooth transition without generating thrust against the inertial force, thereby eliminating the need for complex speed control at the final stage of automatic cruise control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If fixed-point holding control is performed at the same position as automatic cruise stop position, then the vessel may pass the target position due to inertial force, but if complex speed control is implemented to counteract inertial force, then the control system becomes complicated
Solution Approach 1:
The patent applies preliminary action by setting the fixed-point holding target position in advance at a location different from the automatic cruise stop position. This anticipates the inertial force effect and positions the target beforehand so that the vessel naturally stops at the correct location without requiring complex real-time speed control adjustments.
Solution Approach 2:
The patent changes the position parameter of the fixed-point holding target relative to the automatic cruise stop position. By offsetting these positions, the system accounts for inertial effects and achieves accurate stopping without complex control algorithms.
2Reliability
If thrust is generated against inertial force to prevent overshooting, then position accuracy improves, but energy consumption increases and occupant comfort decreases
Solution Approach 1:
The system performs preliminary positioning by setting the fixed-point holding target position differently from the automatic cruise stop position. This allows the vessel to coast to a natural stop at the correct location without requiring energy-consuming thrust adjustments to counteract inertial force during the transition.
3Reliability
If complex speed control is performed at the final stage of automatic cruise control, then position accuracy improves, but the transition smoothness decreases and operation becomes more complicated
Solution Approach 1:
The patent implements preliminary action by pre-setting the fixed-point holding target position at a location offset from the automatic cruise stop position. This eliminates the need for complex speed control maneuvers during the transition phase, allowing for a smooth and simple operational transition while maintaining accurate positioning.
Data Source
AI summary
A vessel includes an actuator having a function of generating a propulsive force of a vessel and a function of generating a moment of the vessel and a vessel control device that operates the actuator, wherein the vessel control device can perform automatic cruise control and fixed-point holding control of the vessel and includes a fixed-point holding target position setting unit that sets a fixed-point holding target position that is a target position of the vessel where the fixed-point holding control of the vessel is to be performed, and when the vessel control device performs automatic cruise control of the vessel and then performs fixed-point holding control of the vessel, the fixed-point holding target position setting unit sets a position different from an automatic cruise stop position that is a position of the vessel where the automatic cruise control of the vessel is stopped as the fixed-point holding target position.