To provide a ship's hull position holding apparatus that can reduce influences caused by control of one shaft with respect to control of the other shaft.SOLUTION: A ship's hull position holding apparatus for controlling a ship comprises a propulsion-driving device that can control speeds in a surge-direction and in a sway-direction and an angular speed around a yaw, and a sensor that detects an orientation of a bow and a position of a ship's hull, which further comprises: a surge signal generation part 111 that generates as a reference signal a time-series signal of a reference position in the surge-direction; a sway signal generation part 112 that generates as a reference signal a time-series signal of a reference position in the sway-direction; a yaw signal generation part 113 that generates as a reference signal a time-series signal of a reference orientation; a generation control part 110 that makes the surge signal generation part 111, the sway signal generation part 112 and the yaw signal generation part 113 generate the reference signals in time zones different from one another; and a feedback control part that performs feedback control of the position of the ship's hull and the orientation of the bow of the ship so as to follow the reference signals.SELECTED DRAWING: Figure 11
【課題】 一軸の制御に対する他軸の制御による影響を低減することができる船体位置保持装置を提供する。【解決手段】 surge方向及びsway方向の速度とyaw周りの角速度とを制御可能な推進駆動装置と、船首方位及び船体位置を検出するセンサとを備える船舶を制御する船体位置保持装置であって、surge方向の参照位置の時系列信号を参照信号として生成するsurge信号生成部111と、sway方向の参照位置の時系列信号を前記参照信号として生成するsway信号生成部112と、参照方位の時系列信号を前記参照信号として生成するyaw信号生成部113と、前記surge信号生成部111、前記sway信号生成部112、前記yaw信号生成部113に対して互いに異なる時間帯に前記参照信号を生成させる生成制御部110と、前記参照信号に追従するように前記船舶の船体位置及び船首方位のフィードバック制御を行うフィードバック制御部とを備えた。【選択図】図11
SHIP'S HULL POSITION HOLDING APPARATUS
船体位置保持装置
2021-10-21
Patent
Elektronische Ressource
Japanisch
British Library Conference Proceedings | 2003
|