FIXED POINT HOLDING METHOD FOR SHIP UTILIZING EXTERNAL FORCE AND ITS DEVICE

摘要

PROBLEM TO BE SOLVED: To solve problems that under oceanographic phenomena having strong window and large tidal current disturbance, the control input of an actuator necessary for control is made large, and when exceeds a control range, control is made impossible.;SOLUTION: A table 15 of right and left thrust acting to a ship 2 when an azimuth of the ship 2 is tilted based on wind and tidal current is prepared, an azimuth command of the ship 2 is decided from the table 15, and by tilting the azimuth of the ship with the resultant force of wind and tidal current acting to the ship 2 by a turning thrust command based on the azimuth command, the ship is laterally moved in the direction of the target point with the lateral thrust acting to the ship 2. The control input for laterally moving the ship 2 is made small and the lateral moving of the ship 2 is made quick.;COPYRIGHT: (C)2002,JPO