PROBLEM TO BE SOLVED: To provide a moving entity control system that estimates a direction of disturbance and achieves fixed point retention.SOLUTION: A disturbance direction estimation unit updates an estimated disturbance direction on the basis of a proportional component and integral component of XTE (a distance between a straight line, which is parallel to a disturbance direction, out of straight lines passing a fixed point and the position of an own ship), and allows the disturbance direction to converge to a target value (allows XTE to become equal to 0). Especially, the disturbance direction estimation unit estimates the disturbance direction on the basis of a cumulative change quantity that is a cumulative value of a change in XTE. The larger the cumulative change quantity is, the larger a correction quantity is. When XTE recedes from 0 (target value), the change in XTE (derivative) assumes a positive value. Therefore, the integral value gets larger and the correction quantity gets larger. In contrast, when XTE approaches 0 (target value), the change in XTE (derivative) assumes a negative value. Therefore, the correction value gets smaller. According to the disturbance direction estimation technique, while convergence to the target value is facilitated, XTE can be smoothly approached to the target value.SELECTED DRAWING: Figure 2

    【課題】外乱の方向を推定し、定点保持を行う移動体制御装置を提供する。【解決手段】外乱方向推定部は、XTE(定点を通る直線のうち外乱方向に平行する直線と、自船の位置と、の距離)の比例成分および積分成分に基づいて、推定した外乱方向を更新し、目標値(XTEが0となること)に収束させる。特に外乱方向推定部は、XTEの変化の累積値である累積変化量に基づいて外乱方向を推定する。累積変化量が大きくなるほど、補正量が大きくなる。XTEが0(目標値)から遠ざかっていく場合には、XTEの変化(微分値)は、正の値を示すため、その積分値が大きくなり、補正量が大きくなる。一方で、XTEが0(目標値)に近づいていく場合には、XTEの変化(微分値)は負の値を示すため、補正量が小さくなる。したがって、この外乱方向推定手法によれば、目標値への収束を速めながらも滑らかに近づけることができる。【選択図】図2


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    Titel :

    MOVING ENTITY CONTROL SYSTEM, MOVING ENTITY CONTROL METHOD, AND MOVING ENTITY CONTROL PROGRAM


    Weitere Titelangaben:

    移動体制御装置、移動体制御方法、および移動体制御プログラム


    Beteiligte:
    KISHIMOTO KAZUYA (Autor:in) / MAENO HITOSHI (Autor:in)

    Erscheinungsdatum :

    2016-07-11


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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