To improve control accuracy and robustness while carrying out model prediction control as well as carrying out control in a shorter amount of time.SOLUTION: A state determination unit 21 determines a state of a hull by using a position Ps of the hull in a coordinate system for control with a target fixed point retaining position Pt as an origin and with an earth coordinate system as reference, distance between the position Ps of the hull and the target fixed point retaining position Pt, and a bow azimuth ψs. A search rule setting unit 22 sets a search rule by using a determination result of state of the hull. A behavior search unit 23 searches for behavior moving the hull to the target fixed point retaining position by searching with a model prediction control using Gauss process regression by referring to the search rule. The behavior search unit 23 sets a command throttle opening and a command steering angle from the search result.SELECTED DRAWING: Figure 1
【課題】モデル予測制御を行いながら、制御精度、ロバスト性を向上し、且つ、より短い時間で制御を行う。【解決手段】状態判定部21は、目標の定点保持位置Ptを原点として地球座標系を基準とする制御用座標系における船体の位置Ps、船体の位置Psと目標の定点保持位置Ptとの距離、および、船首方位ψsを用いて、船体の状態を判定する。探索ルール設定部22は、船体の状態の判定結果を用いて、探索ルールを設定する。行動探索部23は、船体を目標の定点保持位置に移動させる行動を、探索ルールを参照して、ガウス過程回帰を用いたモデル予測制御によって探索する。行動探索部23は、探索の結果から、指令スロットル開度および指令舵角を設定する。【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
2021-07-01
Patent
Electronic Resource
Japanese
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
HULL CONTROLLER, HULL CONTROL METHOD, AND HULL CONTROL PROGRAM
European Patent Office | 2021
|HULL CONTROL DEVICE, HULL CONTROL METHOD, AND HULL CONTROL PROGRAM
European Patent Office | 2021
|HULL CONTROL DEVICE, HULL CONTROL METHOD, AND HULL CONTROL PROGRAM
European Patent Office | 2021
|HULL CONTROL DEVICE, HULL CONTROL METHOD, AND HULL CONTROL PROGRAM
European Patent Office | 2021
|HULL CONTROL DEVICE, HULL CONTROL METHOD, AND HULL CONTROL PROGRAM
European Patent Office | 2021
|