To provide a hull controller capable of retaining a hull at approximately fixed point without using a large scale composition.SOLUTION: A hull controller 10 includes: a distance error calculation unit, an approaching speed calculation unit, and a command value setting unit. The distance error calculation unit calculates distance error between a target position for a fixed point retaining and a position of an own vessel. The approaching speed calculation unit calculates approaching speed of the own vessel to the target position. The command value setting unit sets a throttle command value according to combination of the distance error and the approaching speed.SELECTED DRAWING: Figure 1
【課題】大掛かりな構成を用いることなく、船体を略定点に保持できる船体制御装置を提供する。【解決手段】船体制御装置10は、誤差距離算出部、接近速度算出部、および、指令値設定部を備える。誤差距離算出部は、定点保持のターゲット位置と自船位置との誤差距離を算出する。接近速度算出部は、ターゲット位置に対する自船の接近速度を算出する。指令値設定部は、誤差距離と接近速度との組合せに応じてスロットル指令値を設定する。【選択図】図1
HULL CONTROLLER, 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
2021-03-18
Patent
Electronic Resource
Japanese
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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