To improve prediction accuracy for a model prediction control.SOLUTION: A hull control device 10 comprises a search condition setting unit 21 and a moving action search unit 22. The search condition setting unit 21 predicts a search initial value of throttle opening using an estimation method based on uncertainty with a distance DIS between a position Ps of the hull 90 and a target fixed point holding position Pt and with a true wind speed w as preconditions. The moving action search unit 22 searches for the moving action to move the hull 90 to the fixed point holding position Pt, and sets a command throttle opening from the searched result by a model prediction control in a search range the origin of which is the search initial value.SELECTED DRAWING: Figure 1
【課題】モデル予測制御において予測確度を向上する。【解決手段】船体制御装置10は、探索条件設定部21、および、行動探索部22を備える。探索条件設定部21は、船体90の位置Psと目標の定点保持位置Ptとの距離DISおよび真風速wを前提条件として、不確かさに基づく推定手法を用いてスロットル開度の探索初期値を推定する。行動探索部22は、探索初期値を原点とする探索範囲においてモデル予測制御によって、船体90を定点保持位置Ptに移動させる行動を探索し、該探索の結果から指令スロットル開度を設定する。【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
2023-04-25
Patent
Electronic Resource
Japanese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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