Marine Vessel Steering Stabilization for Smooth Docking Control
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Solution Overview
Problem
Automated docking assistance systems in marine vessels often experience delays in compensating for changing wind conditions, leading to a 'tug-of-war' and oscillating movements between the system and the operator, resulting in undesired aggressive acceleration and braking during docking.
Innovation Solution
A system comprising a steering control device, a model simulation device, and a control unit that synchronizes the marine vessel's actual and simulated positions and headings, using control signals to stabilize propulsion based on the difference between real-time and simulated data, allowing for smoother and more stable docking operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the automated docking assistance system activates itself based on joystick movement, then the system can compensate for wind conditions and misalignment, but it causes a delay in compensation and creates a tug-of-war between the system and operator
Solution Approach 1:
The system performs preliminary action by continuously simulating vessel behavior in advance using a model simulation device. This allows the control unit to predict how the vessel will respond to control inputs before actually applying them, enabling proactive compensation for wind conditions and misalignment rather than reactive compensation after the operator has already moved the joystick.
Solution Approach 2:
The system applies dynamics by using a dynamic model simulation that continuously updates based on current vessel state, wind conditions, and control inputs. The simulation dynamically adjusts the predicted vessel behavior, allowing the system to adapt its compensation strategy in real-time without causing delays or tug-of-war situations.
2Speed
If the automated docking assistance system attempts to reach velocity as fast as possible, then it responds quickly to control inputs, but it causes aggressive acceleration that requires operator correction
Solution Approach 1:
The system applies beforehand cushioning by using the model simulation device to predict the vessel's acceleration response to control inputs before actually commanding that acceleration. The control unit compares the simulated response with desired smooth docking behavior and adjusts the control signals to cushion or dampen aggressive acceleration, preventing harmful oscillations before they occur.
Solution Approach 2:
The system implements feedback by continuously comparing the simulated vessel behavior with the actual vessel state and adjusting control signals accordingly. The control unit uses the difference between simulated and actual position and heading to fine-tune propulsion control, ensuring smooth acceleration without aggressive movements that would require operator correction.
3Reliability
If the automated docking assistance system and operator both control the vessel simultaneously, then the system provides automated stabilization, but it causes oscillating compensating movements
Solution Approach 1:
The model simulation device acts as an intermediary between the operator's control inputs and the actual vessel control. Instead of the operator directly controlling the vessel alongside the automated system, the simulation serves as a mediator that predicts outcomes and allows the control unit to harmonize automated stabilization with operator intentions, preventing oscillating compensating movements.
Data Source
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AI summary
A system and a method therein for steering control stabilization of a marine vessel is provided. The system comprises a steering control device, a control unit and a model simulation device. The steering control device provides control signals in response to manual control inputs from an operator of the marine vessel to the model simulation device. The model simulation device applies the control signals to a simulated model of a marine vessel and provide a resulting position and heading, and their respective rate of change, of the simulated model of the marine vessel to the control unit. The control unit controls a propulsion system of the marine vessel based on a difference between a real-time current position and heading, and their respective rate of change, of the marine vessel and the resulting position and heading, and their respective rate of change, of the simulated model of the marine vessel.