To provide a berthing and un-berthing technology suitable for a ship with a variable pitch propeller and a side thruster.SOLUTION: An automatic steering device for a ship comprises a propulsion driving device with a variable pitch propeller, a bow thruster, and with a rudder, and comprises sensors to detect a bow azimuth and a hull position. An automatic steering device for a ship comprises a reference signal generating part, a control part, and a non-interfering processing part: the reference signal generating part generates reference signals of a reference position and a reference azimuth in the surge and the sway directions to guide a ship to a target position and a target direction; the control part outputs a virtual control variable to make the hull position in the sway direction follow the reference signal, the virtual control variable in the yaw direction to the bow azimuth follow the reference azimuth, and the pitch angle of the variable pitch propeller to make the hull position in the surge direction follow the reference signal; and the non-interfering processing part outputs the propeller rotation speed of the bow thruster and a rudder angle as the controlled variables so that the moment in the yaw direction for the virtual control variable in the sway direction becomes 0 and the force in sway direction for the virtual control variable in the yaw direction becomes 0 by the bow thruster propulsion force.SELECTED DRAWING: Figure 5

    【課題】可変ピッチプロペラと舵とサイドスラスタとを備える船舶に適した離着桟技術を提供する。【解決手段】可変ピッチプロペラとバウスラスタと舵とを有する推進駆動装置と、船首方位及び船体位置を検出するセンサとを備える船舶用自動操舵装置であって、船舶を目標位置及び方位に誘導するsurge方向とsway方向の参照位置及び方位の参照信号生成部と、sway方向の船体位置を参照信号に追従させる仮想制御量と、船首方位を参照方位に追従させるyaw方向の仮想制御量と、surge方向の船体位置を参照信号に追従させる可変ピッチプロペラのピッチ角を出力する制御部と、バウスラスタの推力によって、sway方向の仮想制御量についてyaw方向のモーメントが0に、且つyaw方向の仮想制御量についてsway方向の力が0になるように、バウスラスタのプロペラ回転数と舵の舵角とを制御量として出力する非干渉化処理部とを備えた。【選択図】図5


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    Titel :

    AUTOMATIC STEERING DEVICE FOR SHIP


    Weitere Titelangaben:

    船舶用自動操舵装置


    Beteiligte:
    HANE FUYUKI (Autor:in)

    Erscheinungsdatum :

    17.05.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL



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