To provide a technology capable of realizing constant-radius turning using a smaller steering angle.SOLUTION: An automatic steering device for a ship comprises a trajectory planning part to output the reference heading and the reference position of a hull based on a scheduled route, a feedback control part to output a feedback steering angle to make the hull's heading and position follow the reference heading and the reference position, and a feedforward control part to output a feedforward steering angle to make the hull's heading follow the reference heading during the turning operation. The trajectory planning part replaces a tidal current component with a pre-set upper limit value of the tidal current component if the tidal current component is equal to or greater than the upper limit value of the tidal current component in the calculation based on the deflection amount of the reach amount corresponding to the distance between a turning start position and a steering start position, and on the tidal current component.SELECTED DRAWING: Figure 2

    【課題】より小さい舵角により半径一定の旋回を実現する技術を提供する。【解決手段】計画航路に基づいて船体の参照方位及び参照位置を出力する軌道計画部と、前記船体の方位及び位置を参照方位及び参照位置に追従させるべくフィードバック舵角を出力するフィードバック制御部と、旋回動作時に前記船体の方位を前記参照方位に追従させるフィードフォワード舵角を出力するフィードフォワード制御部とを備えた船舶用自動操舵装置であって、前記軌道計画部は、旋回開始位置と操舵開始位置との間の距離であるリーチ量の変針量と潮流成分とに基づく算出において、前記潮流成分が予め設定された潮流成分の上限値以上である場合、前記潮流成分を前記潮流成分の上限値に置き換えることを特徴とする。【選択図】図2


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    Title :

    AUTOMATIC STEERING DEVICE FOR SHIP


    Additional title:

    船舶用自動操舵装置


    Contributors:
    HANE FUYUKI (author)

    Publication date :

    2025-03-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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