To provide a motion control device for a ship, which does not require adjustment of weights of an performance function, and is less liable to fail in control calculation by building optimization calculation only into a part of classical feedback control, the motion control device, which is configured to cause a ship, on which a plurality of outboard engines are installed, to cruise along a desired trajectory, includes: a trajectory generator configured to output a trajectory command; a controller configured to output a control force command based on the trajectory command and a sensor information group output from a sensor group provided for the ship; and a control force distributor configured to carry out, based on the control force command, optimization calculation for operation amounts required for the plurality of outboard engines in accordance with a constraint condition set in advance so as to output the operation amounts.
Motion control device and motion control method for ship
2019-12-17
Patent
Elektronische Ressource
Englisch
MOTION CONTROL DEVICE AND MOTION CONTROL METHOD FOR SHIP
Europäisches Patentamt | 2018
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Introduction to Ship Motion Control
Springer Verlag | 2005
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