SHIP COURSE KEEPING CONTROL DEVICE AND SHIP

摘要

PROBLEM TO BE SOLVED: To provide a ship course keeping control device capable of avoiding any collision of ships with each other.SOLUTION: A ship course keeping control device includes: a ship course deviation computation unit 62 for computing a ship course deviation; a ship course keeping control unit 63 for computing a steering angle command value; a target time computation unit 64 for computing a target time which is a time of passage through the present position on a commanded ship course as an imaginary position to be obtained by mapping a ship position on the commanded ship course based on transit point data and the ship position; a time deviation computation unit 65 for computing a time deviation between a target time and the present time; and a speed control unit 66 for outputting a control command based on a speed command value computed so as to eliminate the time deviation based on the time deviation and the transit point data. The speed control unit 66 obtains a speed correction amount from the time deviation, computes a rotation speed and a blade angle of a propeller based on the speed correction amount and a target average speed, and performs speed control based on the rotation speed and the blade angle.