Direction and Course Keeping Control of Ship Navigating in Transverse Flow

摘要

When the ship navigates in a transverse flow, to control the navigating course and head direction simultaneously with rudder is impossible, then operator adopts either the course keeping control or course direction keeping control. As the result of those operation, the head direction has difference to the direction of navigating course. To solve this problem, the authors thought out the new control method based on manual operation, which has two (2) control mode; one is course keeping control with rudder and another is direction keeping control with rudder, and they are changed over with position error. The control performance is confirmed with computer simulation and experiments for "Shioji Maru", which is the training ship of Tokyo University of Mercantile Marine and of about 500 gross tonnage. Those results are satisfiable and we had many suggestions for a navigation control from them.