To provide a hull control device capable of automatically controlling a hull azimuth and thrust without using a large scale constitution.SOLUTION: A hull control device 10 comprises a rudder control part 60, a propulsive force control part 50, a sensor 40, and an AP control part 20. The rudder control part 60 controls a rudder angle of a ship. The propulsive force control part 50 controls the propulsive force of the ship. The sensor 40 measures the hull azimuth of the ship. The AP control part 20 outputs a rudder angle command to the rudder control part 60 and outputs a propulsive force command to the propulsive force control part 50. The AP control part 20 comprises a deviation angle calculation part 222 and a rudder angle command setting part 223. The deviation angle calculation part 222 calculates a deviation angle ψ in which a stern part of the ship is assumed to be forward with respect to the target azimuth of the ship using the hull azimuth. The rudder angle command setting part 223 maintains the present rudder angle when the magnitude of the deviation angle ψ is less than a first threshold and sets the rudder angle command to change the present rudder angle to a unique rudder angle for turning when it is equal to or greater than the first threshold.SELECTED DRAWING: Figure 1
【課題】大掛かりな構成を用いることなく、船体方位および推力を自動で制御する。【解決手段】船体制御装置10は、舵制御部60、推進力制御部50、センサ40、および、AP制御部20を備える。舵制御部60は、船舶の舵角を制御する。推進力制御部50は、船舶の推進力を制御する。センサ40は、船舶の船体方位を計測する。AP制御部20は、舵制御部60に舵角指令を出力し、推進力制御部50に推進力指令を出力する。AP制御部20は、偏角算出部222、および、舵角指令設定部223を備える。偏角算出部222は、船体方位を用いて、船舶の目標方位に対する船舶の船尾を前方とした偏角ψを算出する。舵角指令設定部223は、偏角ψの大きさが第1閾値未満のときに現状の舵角を維持し、第1閾値以上のときに一意の切り返し用舵角に変更する舵角指令を設定する。【選択図】 図1
HULL CONTROL DEVICE, HULL CONTROL METHOD, AND HULL CONTROL PROGRAM
船体制御装置、船体制御方法、および、船体制御プログラム
2021-02-04
Patent
Electronic Resource
Japanese
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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