To provide a ship's hull position holding apparatus that can reduce influences caused by control of one shaft with respect to control of the other shaft.SOLUTION: A ship's hull position holding apparatus for controlling a ship comprises a propulsion-driving device that can control speeds in a surge-direction and in a sway-direction and an angular speed around a yaw, and a sensor that detects an orientation of a bow and a position of a ship's hull, further comprises: a surge signal generation part that generates as a reference signal a time-series signal of a reference position in the surge-direction; a sway signal generation part that generates as a reference signal a time-series signal of a reference position in the sway-direction; a yaw signal generation part that generates as a reference signal a time-series signal of a reference orientation; a surge control part 131 that makes the reference signal generated by the surge signal generation part follow the position of the ship's hull in the surge- direction; a sway control part 132 that makes the reference signal generated by the sway signal generation part follow a position of the ship's hull in the sway-direction; and a yaw control part 133 that makes the reference signal generated by the yaw signal generation part follow the orientation of the bow.SELECTED DRAWING: Figure 2
【課題】 一軸の制御に対する他軸の制御による影響を低減することができる船体位置保持装置を提供する。【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と、船首方位及び船体位置を検出するセンサとを備える船舶を制御する船体位置保持装置であって、surge方向の参照位置の時系列信号を参照信号として生成するsurge信号生成部と、sway方向の参照位置の時系列信号を前記参照信号として生成するsway信号生成部と、参照方位の時系列信号を前記参照信号として生成するyaw信号生成部と、surge信号生成部により生成された参照信号にsurge方向の船体位置を追従させるsurge制御部131と、sway信号生成部により生成された参照信号にsway方向の船体位置を追従させるsway制御部132と、yaw信号生成部により生成された参照信号に船首方位を追従させるyaw制御部133とを備えた。【選択図】図2
SHIP'S HULL POSITION HOLDING APPARATUS
船体位置保持装置
2021-10-21
Patent
Electronic Resource
Japanese
British Library Conference Proceedings | 2003
|