Motion control device and motion control method for ship

A motion control device for a ship comprising a plurality of outboard engines, the motion control device causing the ship to cruise along a desired trajectory, and comprising:

• a trajectory generator configured to output a trajectory command;
• a controller configured to output a control force command based on the trajectory command and a sensor information group output from a sensor group provided for the ship;
• and
• a control force distributor configured to carry out, based on the control force command, optimization calculation for operation amounts required for the plurality of outboard engines in accordance with a constraint condition set in advance so as to output the operation amounts,
• wherein:
• the control force distributor comprises a distribution calculator configured to output a driving force signal based on the control force command, a driving force selector configured to output an optimal driving force signal based on the driving force signal, and an operation amount calculator configured to output the required operation amounts based on the optimal driving force signal;
• the plurality of outboard engines comprise a first outboard engine and a second outboard engine;
• and
• the distribution calculator is configured to calculate, as the driving force signal, a solution F* for minimizing a performance function J in a normal form given by the following expression under at least one linear inequality constraint condition:
• J
• =
• 1
• 2
• ⁢
• F
• T
• ⁢
• RF
• -
• f
• T
• ⁢
• CF
• C
• ≡
• [
• 1
• 0
• 1
• 0
• 0
• 1
• 0
• 1
• L
• y
• -
• L
• x
• -
• L
• y
• -
• L
• x
• ]
• f
• =
• [
• X
• f
• Y
• f
• N
• f
• ]
• F
• =
• [
• f
• X
• ⁢
• ⁢
• 1
• f
• X
• ⁢
• ⁢
• 1
• f
• X
• ⁢
• ⁢
• 2
• f
• Y
• ⁢
• ⁢
• 2
• ]
• where, in a body-fixed coordinate system,
• Xf represents an X-axis direction translational force command,
• Yf represents a Y-axis direction translational force command,
• Nf represents a Z-axis direction rotation torque command,
• fX1 represents a propulsion force operation amount in an X-axis direction directed to the first outboard engine,
• fY1 represents a propulsion force operation amount in a Y-axis direction directed to the first outboard engine,
• fX2 represents a propulsion force operation amount in the X-axis direction directed to the second outboard engine,
• fY2 represents a propulsion force operation amount in the Y-axis direction directed to the second outboard engine,
• R represents a positive semi-definite matrix, and
• LX and Ly represent distances in the X-axis direction and the Y-axis direction, respectively, from a center of gravity of the ship to a rotation center of each of the first outboard engine and the second outboard engine.