To provide an automatic ship steering system for ships capable of controlling steering of a ship by integrating TCS and BCS with each other.SOLUTION: An automatic ship steering system 1 for ships includes a propelling drive 4 capable of controlling the speeds in surge and sway directions and an angular speed about a yaw axis, and a sensor 5 that detects the azimuth of a bow and the position of a hull. The automatic ship steering system further includes a route control unit that performs feedback control on a hull position y and bow azimuth ψ in the sway direction of a ship so that the ship will follow a predesignated plan route, a position control unit that performs feedback control on the hull position (x, y) in the surge and sway directions of the ship so that the hull position (x, y) will be consistent with an arrival position (xB, yB) representing a destination of the plan route, and a mode change unit 15 that changes a movement mode in which the route control unit performs the feedback control, and a retention mode in which the position control unit performs the feedback control, on the basis of a separate distance between the arrival position (xB, yB) and the hull position (x, y).SELECTED DRAWING: Figure 1

    【課題】TCSとBCSとを統合して船舶の操船制御を行うことができる船舶用自動操船装置を提供する。【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4と、船首方位及び船体位置を検出するセンサ5とを備える船舶用自動操船装置1であって、予め設定された計画航路に追従するように船舶のsway方向の船体位置y及び船首方位ψのフィードバック制御を行う航路制御部と、計画航路における目的地である到達位置(xB,yB)に船体位置(x,y)を一致させるように船舶のsurge方向及びsway方向の船体位置(x,y)をフィードバック制御する位置制御部と、到達位置(xB,yB)と船体位置(x,y)との離間距離に基づいて、航路制御部によりフィードバック制御を行う移動モードと、位置制御部によりフィードバック制御を行う保持モードとを切り替えるモード切替部15とを備える。【選択図】図1


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    Title :

    AUTOMATIC SHIP STEERING SYSTEM FOR SHIP


    Additional title:

    船舶用自動操船装置


    Contributors:
    HANE FUYUKI (author)

    Publication date :

    2021-04-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL



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