To improve position retaining precision in dynamic positioning.SOLUTION: A target position P0 is set and a determination circle 8 of a radius R centering around the target position P0 is created. Next, determination processing for determining whether or not a position of a cruising body exists outside the determination circle 8 is carried out, and when the cruising body exists outside the determination circle 8, target azimuth cruising processing for having the cruising body cruise forward toward the target position P0 is carried out. On the other hand, when the cruising body exists within the range of the determination circle 8, processing for stopping the propulsion force in a forward direction by a propulsion device of the cruising body is carried out. Thus, while the cruising body is moved to alternately pass on the circumference of the determination circle 8 in an inward/outward direction, it is moved to be gradually converged to a position in a direction on the determination circle 8 in which a disturbance 7 is applied when viewed from the target position P0, and is fixedly positioned there.SELECTED DRAWING: Figure 2
【課題】 定点保持の際の位置保持精度の向上化を図る。【解決手段】 目標位置P0を設定し、目標位置P0を中心する半径Rの判定円8を作成する。次に、航走体の位置が、判定円8よりも外側に存在するか否かを判断する判断処理を行い、航走体が判定円8よりも外側に存在する場合は、航走体を目標位置P0に向けて前進航走させる目標方位航走処理を行う。一方、航走体が判定円8以内の領域に存在する場合は、航走体の推進装置による前進方向の推力を停止させる処理を行う。これにより、航走体は、判定円8の円周上を内外方向に交互に通過するように移動しながら、判定円8の円周上で且つ目標位置P0から見て外乱7が作用する方向の位置に、次第に収束するように移動し、そこで定点保持される。【選択図】図2
CRUISING CONTROL METHOD AND CRUISING CONTROL DEVICE
航走制御方法および航走制御装置
2019-11-21
Patent
Electronic Resource
Japanese
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
European Patent Office | 2018
|Engineering Index Backfile | 1941
|Engineering Index Backfile | 1942
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