Ship maneuvering device

A ship maneuvering device comprising:

• a pair of left and right engines;
• rotation speed changing actuators independently changing engine rotation speeds of the pair of left and right engines;
• a pair of left and right outdrive devices respectively connected to the pair of left and right engines and rotating screw propellers so as to propel a hull;
• forward/reverse switching clutches disposed between the engines and the screw propellers;
• a pair of left and right steering actuators respectively independently rotating the pair of left and right outdrive devices laterally within a predetermined angle range;
• an operation means setting a traveling direction of a ship;
• an operation a mount detection means detecting the operation amount of the operation means;
• and
• a control device controlling the rotation speed changing actuators, the forward/reverse switching clutches, and the steering actuators so as to travel to a direction set by the operation means,
• characterized in that
• the control device calculates oblique sailing component propulsion power vectors for oblique sailing of the left and right outdrive devices and turning component propulsion power vectors for the turning from the operation amount of the operation means, and composes the oblique sailing component propulsion power vectors and the turning component propulsion power vectors of the left and right outdrive devices so as to calculates composition vectors, thereby calculating propulsion powers and directions of the left and right outdrive devices.