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1. WO2018100749 - SMALL SHIP AND METHOD FOR CONTROLLING SAME

Publication Number WO/2018/100749
Publication Date 07.06.2018
International Application No. PCT/JP2016/085985
International Filing Date 02.12.2016
IPC
B63H 25/04 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
HMARINE PROPULSION OR STEERING
25Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
02Initiating means for steering
04automatic, e.g. reacting to compass
CPC
B63B 49/00
BPERFORMING OPERATIONS; TRANSPORTING
63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
49Arrangements of nautical instruments or navigational aids
B63H 25/04
BPERFORMING OPERATIONS; TRANSPORTING
63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
HMARINE PROPULSION OR STEERING
25Steering; Slowing-down otherwise than by use of propulsive elements
02Initiating means for steering ; , for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
04automatic, e.g. reacting to compass
G05D 1/0206
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
0206specially adapted to water vehicles
Applicants
  • ヤマハ発動機株式会社 YAMAHA HATSUDOKI KABUSHIKI KAISHA [JP]/[JP]
Inventors
  • 阿久澤 修 AKUZAWA, Shu
  • 青木 啓高 AOKI, Hirotaka
  • 芦田 祐介 ASHIDA, Yuusuke
Agents
  • 新樹グローバル・アイピー特許業務法人 SHINJYU GLOBAL IP
Priority Data
Publication Language Japanese (ja)
Filing Language Japanese (JA)
Designated States
Title
(EN) SMALL SHIP AND METHOD FOR CONTROLLING SAME
(FR) PETIT NAVIRE ET SON PROCÉDÉ DE COMMANDE
(JA) 小型船舶及びその制御方法
Abstract
(EN) In the present invention, a position sensor detects the current position and current heading of a ship hull and outputs position information indicating the current position and current heading. A controller receives the position information. The controller determines a first target position of the ship hull and a target heading at the first target position. The controller calculates the heading difference between the current heading and the target heading. The controller determines the offset amount of the first target position in accordance with the heading difference or a disturbance. The controller determines, as a second target position, a position separated by the offset amount toward the current position from the first target position. A command signal is generated for controlling a propulsion device so as to cause the ship hull to reach the second target position.
(FR) Dans la présente invention, un capteur de position détecte la position actuelle et le cap actuel d'une coque de navire et délivre des informations de position indiquant la position actuelle et le cap actuel. Un dispositif de commande reçoit les informations de position. Le dispositif de commande détermine une première position cible de la coque de navire et un cap cible dans la première position cible. Le dispositif de commande calcule la différence de cap entre le cap actuel et le cap cible. Le dispositif de commande détermine la quantité de décalage de la première position cible conformément à la différence de cap ou à une perturbation. Le dispositif de commande détermine, en tant que seconde position cible, une position séparée par la quantité de décalage vers la position actuelle à partir de la première position cible. Un signal de commande est produit pour commander un dispositif de propulsion de façon à amener la coque de navire à atteindre la seconde position cible.
(JA) 位置センサは、船体の現在位置と現在方位とを検出し、現在位置と現在方位とを示す位置情報を出力する。コントローラは、位置情報を受信する。コントローラは、船体の第1目標位置と、第1目標位置における目標方位とを決定する。コントローラは、現在方位と目標方位との方位差を算出する。コントローラは、方位差又は外乱に応じて第1目標位置のオフセット量を決定する。コントローラは、第1目標位置から現在位置側にオフセット量、離れた位置を第2目標位置として決定する。第2目標位置に船体を到達させるように推進装置を制御する指令信号を生成する。
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