Title:
AUTOMATIC STEERING DEVICE FOR SHIP
Document Type and Number:
WIPO Patent Application WO/2020/045574
Kind Code:
A1
Abstract:
This automatic steering device for a ship outputs a command steering angle on the basis of a reference direction and a bow direction, and by using a ship parameter, and includes an identification computation unit for calculating an identification value for the ship parameter and an update computation unit 13 for calculating an update value based on the identification value. The identification computation unit includes: an identification model that outputs model output data from predetermined input data and includes a ship model relating to the movement of the ship; a parameter adjustment unit for adjusting the ship parameter on the basis of a comparison result obtained by comparing the model output data with output data representing actual measured values relating to the ship to calculate an identification value in an identification computation period at least including a point at which the ship started to veer; and an average ship speed calculation unit for calculating an average value of the ship surge speed for an identification computation period as the average ship speed corresponding to the identification value calculated in the same identification computation period. The update computation unit 13 includes: an acquisition unit 131 for acquiring identification values and average ship speeds corresponding to the identification values; an identification value storage unit 133 for accumulating the acquired identification values in chronological order; and a computation processing unit 134 for calculating a factor for an update function which is a linear function relating to a ship speed using the least squares method based on the accumulated identification values and calculating an update value for the ship parameter from an update function using the calculated factor and the acquired average ship speeds.
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Inventors:
HANE FUYUKI (JP)
Application Number:
PCT/JP2019/033939
Publication Date:
March 05, 2020
Filing Date:
August 29, 2019
Export Citation:
Assignee:
TOKYO KEIKI INC (JP)
International Classes:
B63H25/04
Foreign References:
| JP2012071621A | 2012-04-12 | |||
| JP2017178052A | 2017-10-05 | |||
| JP2006321455A | 2006-11-30 | |||
| JPS56142796A | 1981-11-07 |
Attorney, Agent or Firm:
AKAZAWA, Hideo (JP)
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