PROBLEM TO BE SOLVED: To provide a vessel motion control device that is hard to make a control operation failure caused by assembling of optimization calculation only to a part of feedback control to which a so-called classical control system such as PID control is applied without needing weight adjustment in an evaluation function.SOLUTION: The vessel motion control device for sailing a vessel on which a plurality of outboard engines are mounted on a desired track is provided with: a track generator that outputs a track command; a controller that outputs a control force command on the basis of the track command and a sensor information group from a sensor group provided in the vessel; and a control force distributer that outputs an operation amount requested to the outboard engines on the basis of the control force command and performs an optimization operation for the operation amount according to a preset constraint.SELECTED DRAWING: Figure 1

    【課題】評価関数における重みの調整が不要で、PID制御のようないわゆる古典制御系を適用したフィードバック制御の一部にのみ最適化計算を組み込むことによる、制御演算の破綻しにくい船舶の運動制御装置を得る。【解決手段】複数の船外機を搭載した船舶を、所望の軌道で航走させる船舶の運動制御装置であって、軌道指令を出力する軌道生成器と、前記軌道指令と船舶に具備されたセンサ群からのセンサ情報群に基づいて、制御力指令を出力する制御器と、前記制御力指令に基づいて前記複数の船外機への要求される操作量を出力する、予め設定された制約条件に従った前記操作量のための最適化演算を行う制御力配分器と、を備えた、船舶の運動制御装置。【選択図】図1


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    Titel :

    MOTION CONTROL DEVICE AND MOTION CONTROL METHOD FOR VESSEL


    Weitere Titelangaben:

    船舶の運動制御装置および運動制御方法


    Beteiligte:
    IMAMURA NAOKI (Autor:in) / SAKAGUCHI AKIRA (Autor:in) / MORI NORIHIKO (Autor:in)

    Erscheinungsdatum :

    15.11.2018


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL



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