The application relates to marine vessel motion estimation and stabilization, in particular to a marine vessel (100, 200, 500) comprising a hull (110), a propulsion system (120) comprising a first drive unit (120a) and a second drive unit (120b) separated by a longitudinal ship midsection (115) of the hull (110), a control unit (130), and a motion sensor system (140), wherein each drive unit (120a, 120b) is arranged to generate a thrust (T) with a controllable thrust elevation angle ([omega] y, T) and a controllable thrust azimuth angle ([omega] z, T) wherein at least the thrust elevation angles ([omega] y, T) are individually controllable, and wherein the control unit (130) is arranged to estimate a pitch motion ([omega] y) and a roll motion ([omega] x) of the hull (110) based on an input from the motion sensor system (140), and wherein the control unit (130) is arranged to dampen pitching and rolling movements of the hull (110) by controlling the thrust elevation angle ([omega] y, T) and the thrust azimuth angle ([omega] z, T) of the first and second drive units (120a, 120b), and wherein the control unit (130) is arranged to dampen pitching and rolling movements of the hull (110) by controlling the thrust elevation angle ([omega] y, T) and the thrust azimuth angle ([omega] z, T) of the first and second drive units (120a, 120b).
本申请涉及海洋船舶运动估计和稳定,尤其是一种海洋船舶(100、200、500),其包括船体(110)、推进系统(120)、控制单元(130)以及运动传感器系统(140),其中所述推进系统(120)包括由所述船体(110)的纵向船中剖线(115)分开的第一驱动单元(120a)和第二驱动单元(120b),其中每个驱动单元(120a、120b)被布置成以可控推力仰角(ωy,T)和可控推力方位角(ωz,T)生成推力(T),其中至少所述推力仰角(ωy,T)能够单独地控制,其中所述控制单元(130)被布置成基于来自所述运动传感器系统(140)的输入来估计所述船体(110)的纵摇运动(ωy)和横摇运动(ωx),并且其中所述控制单元(130)被布置成通过控制所述第一驱动单元和所述第二驱动单元(120a、120b)的所述推力仰角(ωy,T)和所述推力方位角(ωz,T)来抑制所述船体(110)的纵摇运动和横摇运动。
Marine vessel motion estimation and stabilization
海洋船舶运动估计和稳定
2024-07-23
Patent
Electronic Resource
Chinese