To suitably control deviation between a target bow azimuth and an actual bow azimuth by PID control.SOLUTION: A vessel includes: an actuator having a steering unit; a bow azimuth detection unit for detecting an actual bow azimuth of the vessel; and a bow azimuth control device having a target bow azimuth acquisition unit, a bow azimuth deviation calculation unit, a PID control unit, and a gain setting unit. The bow azimuth deviation calculation unit calculates bow azimuth deviation which is a difference between a target bow azimuth and an actual bow azimuth. The PID control unit calculates an instruction value for the actuator by PID control from the bow azimuth deviation calculated by the bow azimuth deviation calculation unit. The gain setting unit carries out setting of at least derivative gain out of proportional gain, integral gain, and the derivative gain used for the PID control, and adds a derivative gain increase correction amount to a present value of the derivative gain when the bow azimuth deviation calculated by the bow azimuth deviation calculation unit is equal to or greater than a first threshold.SELECTED DRAWING: Figure 1

    【課題】PID制御によって目標船首方位と実船首方位との偏差を適切に制御する。【解決手段】船舶は、舵部を有するアクチュエータと、船舶の実船首方位を検出する船首方位検出部と、目標船首方位取得部と船首方位偏差算出部とPID制御部とゲイン設定部とを有する船首方位制御装置とを備え、船首方位偏差算出部は、目標船首方位と実船首方位との差である船首方位偏差を算出し、PID制御部は、船首方位偏差算出部によって算出された船首方位偏差から、PID制御によりアクチュエータに対する指示値を算出し、ゲイン設定部は、PID制御に用いられる比例ゲイン、積分ゲインおよび微分ゲインのうちの少なくとも微分ゲインの設定を行い、船首方位偏差算出部によって算出された船首方位偏差が第1閾値以上である場合に、ゲイン設定部は、微分ゲインの現在値に微分ゲイン増加補正量を加算する。【選択図】図1


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    Title :

    VESSEL, BOW AZIMUTH CONTROL METHOD, DEVICE AND PROGRAM FOR BOW AZIMUTH CONTROL


    Additional title:

    船舶、船首方位制御方法、船首方位制御装置およびプログラム


    Contributors:

    Publication date :

    2022-06-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL



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