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NO20010397L - Method and apparatus for controlling the position of an object - Google Patents

Method and apparatus for controlling the position of an object

Info

Publication number
NO20010397L
NO20010397L NO20010397A NO20010397A NO20010397L NO 20010397 L NO20010397 L NO 20010397L NO 20010397 A NO20010397 A NO 20010397A NO 20010397 A NO20010397 A NO 20010397A NO 20010397 L NO20010397 L NO 20010397L
Authority
NO
Norway
Prior art keywords
reference position
forces
force
value
calculating
Prior art date
Application number
NO20010397A
Other languages
Norwegian (no)
Other versions
NO20010397D0 (en
Inventor
Thor I Fossen
Einar Berglund
Karl-Petter Lindegaard
Trygve Lauvdal
Jann Peter Strand
Original Assignee
Abb Ind As
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Abb Ind As filed Critical Abb Ind As
Priority to NO20010397A priority Critical patent/NO20010397L/en
Publication of NO20010397D0 publication Critical patent/NO20010397D0/en
Priority to PCT/IB2002/000194 priority patent/WO2002058989A1/en
Publication of NO20010397L publication Critical patent/NO20010397L/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B49/00—Arrangements of nautical instruments or navigational aids
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
    • G05D1/0208—Control of position or course in two dimensions specially adapted to water vehicles dynamic anchoring

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Control Of Position Or Direction (AREA)
  • Earth Drilling (AREA)

Abstract

En innretning for styring av posisjonen av en gjenstand som befinner seg i vann, mot en referanseposisjon som er konstant over tid, omfatter en anordning (3) for måling av gjenstandens virkelige posisjon, en anordning (4) for sammenlikning av den målte posisjon med en referanseposisjon som ønskes for gjenstanden, en anordning (7) for beregning av krefter som skal anvendes på gjenstanden for å tvinge denne mot referanseposisjonen på grunnlag av resultatet av den nevnte sammenlikning, og en innretning (2, 8) for anvendelse av de nevnte krefter på gjenstanden (1) for å tvinge denne mot referanseposisjonen. Innretningen omfatte også en anordning (6) som er egnet til å etablere en verdi av gjenstandens akselerasjon ved det aktuelle tidspunkt. Beregningsanordningen (7) er egnet til å ta hensyn til den nevnte akselerasjons verdi under beregningen av de nevnte krefter.A device for controlling the position of an object which is in water, against a reference position which is constant over time, comprises a device (3) for measuring the actual position of the object, a device (4) for comparing the measured position with a a reference position desired for the object, a device (7) for calculating forces to be applied to the object to force it against the reference position on the basis of the result of said comparison, and a device (2, 8) for applying said forces to the object (1) to force it toward the reference position. The device also comprises a device (6) suitable for establishing a value of the object's acceleration at that particular moment. The calculating device (7) is suitable for taking into account the value of said acceleration during the calculation of said forces.

NO20010397A 2001-01-23 2001-01-23 Method and apparatus for controlling the position of an object NO20010397L (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
NO20010397A NO20010397L (en) 2001-01-23 2001-01-23 Method and apparatus for controlling the position of an object
PCT/IB2002/000194 WO2002058989A1 (en) 2001-01-23 2002-01-22 A method and a device for controlling the position of an object

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
NO20010397A NO20010397L (en) 2001-01-23 2001-01-23 Method and apparatus for controlling the position of an object

Publications (2)

Publication Number Publication Date
NO20010397D0 NO20010397D0 (en) 2001-01-23
NO20010397L true NO20010397L (en) 2002-07-24

Family

ID=19912047

Family Applications (1)

Application Number Title Priority Date Filing Date
NO20010397A NO20010397L (en) 2001-01-23 2001-01-23 Method and apparatus for controlling the position of an object

Country Status (2)

Country Link
NO (1) NO20010397L (en)
WO (1) WO2002058989A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7177734B2 (en) 2002-12-30 2007-02-13 Marine Cybernetics As System and method for testing a control system of a marine vessel
US7467051B2 (en) 2005-12-07 2008-12-16 Marine Cybernetics As Method and a system for testing of a power management system of a marine vessel

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1981757B1 (en) 2006-02-01 2017-06-21 CPAC Systems AB A method and arrangement for controlling a drive arrangement in a watercraft
US8265812B2 (en) 2010-11-24 2012-09-11 William M Pease System and method for a marine vessel autopilot
NO20141529A1 (en) * 2014-12-18 2016-05-09 Kongsberg Maritime As Procedure and system for dynamic positioning of floating vessels in water

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2153689A5 (en) * 1971-09-21 1973-05-04 France Etat
IT1009574B (en) * 1974-01-21 1976-12-20 Saipem Spa PERFECTED METHOD FOR THE POSITIONING OF A VESSEL IN PARTICULAR A DRILLING SHIP AND RELATED DEVICES
US4769773A (en) * 1985-08-28 1988-09-06 Shell Offshore Inc. Vessel wave heading control apparatus
DD245736A1 (en) * 1986-01-03 1987-05-13 Seefahrt Inghochschule DEVICE FOR THE AUTOMATIC CONTROL OF PRESENTED SHIP BEDS

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7177734B2 (en) 2002-12-30 2007-02-13 Marine Cybernetics As System and method for testing a control system of a marine vessel
US7496434B2 (en) 2002-12-30 2009-02-24 Marine Cybernetics As System and method for testing a control system of a marine vessel
US7467051B2 (en) 2005-12-07 2008-12-16 Marine Cybernetics As Method and a system for testing of a power management system of a marine vessel

Also Published As

Publication number Publication date
WO2002058989A1 (en) 2002-08-01
NO20010397D0 (en) 2001-01-23

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Legal Events

Date Code Title Description
FC2A Withdrawal, rejection or dismissal of laid open patent application