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02 - K-Pos System Principles, BlockDiagram

The document describes a vessel control system that uses sensors to measure wind speed, direction, and the vessel's position and heading. It uses this sensor data along with models of vessel dynamics and external forces to estimate the vessel's position and heading. It then calculates thruster setpoints to control the vessel's position and heading based on inputs from a joystick and settings for factors like damping gain. The thruster setpoints are sent to a thruster command system to control the actual thrusters on the vessel.

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Leca George
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87 views1 page

02 - K-Pos System Principles, BlockDiagram

The document describes a vessel control system that uses sensors to measure wind speed, direction, and the vessel's position and heading. It uses this sensor data along with models of vessel dynamics and external forces to estimate the vessel's position and heading. It then calculates thruster setpoints to control the vessel's position and heading based on inputs from a joystick and settings for factors like damping gain. The thruster setpoints are sent to a thruster command system to control the actual thrusters on the vessel.

Uploaded by

Leca George
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Measured Measured Wind Speed & Direction

Position & Heading Wind Draught Input


Model
Error
Kalman Comp. Wind
Filter
Error
force Force
Position & Computation
Heading Current
Predicted Vessel
Difference
Position & Model External
Heading Update Forces

Thruster
Vessel Model
Force Speed & Acceleration Settings
Estimated
Drag Position & Carrot
Estimated
Force Speed Heading New Setpoint Computation

Position & Heading


Draught Input Drag Position & Present Setpoint
Computation Heading
Deviation

Damping Gain Selected


Control Control Gain

Demand from Joystick


Joystick Force
Joystick
Demand Feed Forward
Gain
Controller
Resulting Force
Demand
Joystick
Settings Thruster
Allocation Thruster Allocation Mode

Thruster
Setpoints

Thruster Power Generator Status


Overload Bus Switch Status
Model
Control
Power Consumption
Thruster Thruster
Feedback Setpoints
Thruster Thruster
Feedback Thrusters Command
System System

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