Ship body control device, ship body control system, ship body control method and ship body control program

A ship body control device, comprising:

• processing circuitry configured to:
• acquire a ship body state of a ship body on a water surface and disturbance information, the disturbance information including a wind speed and a wind direction, and the ship body state including a ship speed and a heading;
• estimating one first estimated trim rudder angle before turning, and another first estimated trim rudder angle after turning, based on the information regarding a hydrodynamic force of the ship body, the ship body state and the disturbance information,
• calculate an actual measurement of the trim rudder angle immediately after turning is started, based on a target direction that is obtained from a direction setting and the heading of the ship body,
• estimating a third estimated trim rudder angle after turning, based on the actual measurement of the trim rudder angle immediately after turning is started, the one first estimated the trim rudder angle before turning, and the another first estimated trim rudder angle after turning, according to the following:
• δtma=δtmb·(δte0a/δte0b)
• where
• δtma represents the third estimated trim rudder angle after turning,
• δtmb represents the actual measurement of the trim rudder angle immediately after turning is started,
• δte0b represents the first estimated trim rudder angle before turning, and
• δte0a the first estimated trim rudder angle after turning,
• estimating a fourth estimated trim rudder angle, based on a present heading, a present direction setting, a direction setting before turning, the actual measurement of the trim rudder angle immediately after turning is started, and the third estimated trim rudder angle,
• calculate a command rudder angle based on the target direction and the heading;
• and
• correct the command rudder angle calculated based on the fourth estimated trim rudder angle to output a corrected command rudder angle to control a rudder of the ship body during turning of the ship body.

A ship body control method, comprising:

• acquiring a ship body state and disturbance information of a ship body on a water surface, the disturbance information including a wind speed and a wind direction, and the ship body state including a ship speed and a heading;
• estimating a first estimated trim rudder angle with reference to the disturbance information, based on
• the ship body state,
• the disturbance information, and
• information regarding a hydrodynamic force of the ship body, the information being determined based on a shape of the ship body;
• estimating a second estimated trim rudder angle based on at least the first estimated trim rudder angle according to the following:
• δte1=δtm·(δte0/δte0b)
• where
• δte1 represents the second estimated trim rudder angle,
• δte0b represents the first estimated trim rudder angle before turning,
• δte0 represents the first estimated trim rudder angle of a present heading, and
• δtm represents an actual measurement of the trim rudder angle of the present heading;
• calculating a command rudder angle based on a target direction and the heading;
• and
• correcting the command rudder angle calculated based on the first estimated trim rudder angle or the second estimated trim rudder angle to output a corrected command rudder angle to control a rudder of the ship body during turning of the ship body.

A non-transient computer-readable recording medium, recording a ship body control program, enabling a computer to:

• acquire a ship body state of a ship body on a water surface and disturbance information, the disturbance information including a wind speed and a wind direction, and the ship body state including a ship speed and a heading;
• estimate a first estimated trim rudder angle with reference to the disturbance information, based on
• the ship body state,
• the disturbance information, and
• information regarding a hydrodynamic force of the ship body, the information being determined based on a shape of the ship body;
• estimate a second estimated trim rudder angle based on at least the first estimated trim rudder angle according to the following:
• δte1=δtm·(δte0/δte0b)
• where
• δte1 represents the second estimated the trim rudder angle,
• δte0b represents the first estimated trim rudder angle before turning,
• δte0 represents the first estimated trim rudder angle of a present heading, and
• δtm represents an actual measurement of the trim rudder angle of the present heading;
• calculate a command rudder angle based on a target direction and the heading;
• and
• correct the command rudder angle calculated based on the first estimated trim rudder angle or the second estimated trim rudder angle to output a corrected command rudder angle to control a rudder of the ship body during turning of the ship body.