METHOD FOR MOORING SHIP ALONGSIDE QUAY AND DETACHING SHIP FROM QUAY AUTOMATICALLY

摘要

PURPOSE: To moor a ship surely alongside an objective position for a shortest time without going too far or too short by simplifying the apparatus constitution and control and figuring out the factor of a movement equation according to the instant condition of the ship to calculate the optimum control amount of a high lift rudder and bow thruster. ;CONSTITUTION: A thrust in any direction is given to a hull 1 through stern by combinating properly the rotational positions of two high lift rudders 4a, 4b, and thrusts in the left and right directions are given to the bow by a bow thruster 2 provided on the bow part 1a to control the movement of a hull. Detected values of lateral shift speed sensors 8a, 8b and distance sensors 9a, 9b provided respectively on the bow part 1a and stern part 1b, longitudinal shift speed sensor 10 and direction sensor 11 provided in any position on the hull are send as input values to a calculation controller 14 which calculates controllably the control amount of the bow thruster 2 and a steering machine controller.;COPYRIGHT: (C)1994,JPO