Watercraft Position Control With Adaptive Heading Correction
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Solution Overview
Problem
Existing watercraft control systems often require frequent directional changes to maintain a set point, leading to overactive movement and inefficiency due to displacement by water streams or wind.
Innovation Solution
A system comprising a propulsion device, sensor, and controller that maintains the watercraft's position and direction relative to a set point by adjusting the standard direction and line, minimizing movement and reducing frequent directional changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the watercraft control system frequently changes direction to maintain a set point, then the position accuracy is improved, but the movement becomes overactive and efficiency deteriorates
Solution Approach 1:
The control system predicts future position based on current motion state (velocity, acceleration) and applies control actions in advance to counteract expected deviations from the set point, rather than reacting to actual position errors after they occur. This preliminary action reduces the need for frequent directional changes while maintaining position accuracy.
Solution Approach 2:
The system dynamically adjusts control parameters based on the watercraft's motion state and environmental conditions. By considering velocity, acceleration, and external forces in the control algorithm, the system optimizes directional changes to minimize unnecessary movements while maintaining precise position control.
2Measurement precision
If the watercraft returns to the set point after displacement, then position accuracy is improved, but time is lost due to floating off course before direction change
Solution Approach 1:
The control system predicts future position based on current motion state and applies control actions in advance to counteract expected deviations from the set point, rather than reacting to actual position errors after they occur. This preliminary action reduces the time lost floating off course before directional correction is needed.
3Stability of the object's composition
If the watercraft maintains position against water streams and wind, then position stability is improved, but energy consumption increases due to frequent directional adjustments
Solution Approach 1:
The control system predicts future position based on current motion state and environmental factors, applying control actions in advance to counteract expected deviations. This reduces the frequency of corrective maneuvers and associated energy consumption while maintaining position stability against water streams and wind.
Solution Approach 2:
The system utilizes knowledge of the watercraft's momentum and environmental forces to predict and preempt deviations, converting the potential harmful effect of these forces into manageable predictions that require less energy to counteract than reactive corrections would demand.
Data Source
AI summary
A controller controls a propulsion device such that a position of a watercraft is maintained in a front-and-back direction with respect to a standard line extending from a set point in a lateral direction while a direction of the watercraft is maintained along a standard direction defined as the direction of the set point. The controller determines whether or not the watercraft is moving away from the set point in the lateral direction. The controller changes the standard direction in a specific direction by controlling the propulsion device when the watercraft is moving away from the set point in the lateral direction. The controller changes the direction of the watercraft in accordance with the changed standard direction. The controller repeats determining whether or not the watercraft is moving, changing the standard direction, and changing the direction of the watercraft.