Device, method, and program for controlling ship body
AssigneeFuruno Electric Co., Ltd.
InventorHideki Ueno
Life of this patent
Estimating the term…
Abstract
A ship body control device is provided, which includes a rudder controller configured to control a rudder angle of a ship, a sensor configured to measure a ship body direction of the ship, and an autopilot controller configured to output a rudder angle command to the rudder controller. The autopilot controller includes an angle-of-deviation calculating module configured to calculate a deviation angle of a stern direction from a target stern direction based on the ship body direction, and a rudder angle command setting module configured to set the rudder angle command so as to maintain a current rudder angle when the deviation angle is less than a first threshold, and to change it to a given fixed turning rudder angle when the deviation angle is the first threshold or more.
Claims17
A ship body control device, comprising:
- a sensor configured to measure a ship body direction of the ship;
- and
- processing circuitry configured:
- to calculate an angle of deviation of a stern direction of the ship from a target stern direction of the ship based on the ship body direction;
- to set a rudder angle command so as to maintain a current rudder angle when the angle of deviation is less than a first threshold, and change the rudder angle to a given fixed turning rudder angle when the angle of deviation is the first threshold or more;
- to control a propulsion force of the ship;
- to set a propulsion force command so that:
- the propulsion force is zero when the angle of deviation is less than a second threshold, and
- the propulsion force is a value according to the angle of deviation when the angle of deviation is the second threshold or more.
A method of controlling a ship body, comprising:
- measuring a ship body direction of a ship;
- calculating an angle of deviation of a stern direction of the ship from a target stern direction of the ship based on the ship body direction;
- setting a rudder angle command so as to maintain a current rudder angle when the angle of deviation is less than a first threshold, and change the rudder angle to a given fixed turning rudder angle when the angle of deviation is the first threshold or more;
- and
- controlling the rudder angle of the ship based on the rudder angle command,
- wherein
- a propulsion force command is set so that a propulsion force is zero when the angle of deviation is less than a second threshold, and the propulsion force is a value according to the angle of deviation when the angle of deviation is the second threshold or more, and
- the propulsion force of the ship is controlled based on the propulsion force command.
A non-transitory computer-readable recording medium storing a program causing processing circuitry of a ship body control device to execute processing, the processing circuitry configured to control operation of the device, the processing comprising:
- measuring a ship body direction of a ship;
- calculating an angle of deviation of a stern direction of the ship from a target stern direction of the ship based on the ship body direction;
- setting a rudder angle command so as to maintain a current rudder angle when the angle of deviation is less than a first threshold, and change the rudder angle to a given fixed turning rudder angle when the angle of deviation is the first threshold or more;
- controlling the rudder angle of the ship based on the rudder angle command,
- wherein
- a propulsion force command is set so that a propulsion force is zero when the angle of deviation is less than a second threshold, and the propulsion force is a value according to the angle of deviation when the angle of deviation is the second threshold or more, and
- the propulsion force of the ship is controlled based on the propulsion force command.
Dependencies are inferred from the claim text.