Title:
MARINE VESSEL, HEADING CONTROL METHOD, HEADING CONTROL DEVICE, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2022/118881
Kind Code:
A1
Abstract:
This marine vessel comprises: an actuator having a rudder; a heading detection unit detecting an actual heading of the marine vessel; and a heading control device having a target heading acquisition unit, a heading deviation calculation unit, a PID control unit, and a gain setting unit, wherein the heading deviation calculation unit calculates a heading deviation which is a difference between a target heading and the actual heading, the PID control unit calculates, from the heading deviation calculated by the heading deviation calculation unit, an instruction value for the actuator by PID control, the gain setting unit sets, out of a proportional gain, an integral gain, and a derivative gain used in PID control, at least the derivative gain, and, when the heading deviation calculated by the heading deviation calculation unit is equal to or more than a first threshold value , the gain setting unit adds a derivative gain addition correction quantity to a current value of the derivative gain.
Inventors:
SHIRAO MASATO (JP)
AKITA MARINO (JP)
KAMIYA TAKAFUMI (JP)
AKITA MARINO (JP)
KAMIYA TAKAFUMI (JP)
Application Number:
PCT/JP2021/044086
Publication Date:
June 09, 2022
Filing Date:
December 01, 2021
Export Citation:
Assignee:
NHK SPRING CO LTD (JP)
International Classes:
G05B11/36; B63B79/40; B63H25/04; B63H25/30; G05B13/02
Foreign References:
| JP2011189884A | 2011-09-29 | |||
| US20180231980A1 | 2018-08-16 | |||
| US20190339700A1 | 2019-11-07 | |||
| CN111367178A | 2020-07-03 | |||
| JP2020200968A | 2020-12-17 | |||
| JP2008230484A | 2008-10-02 | |||
| JP5400506B2 | 2014-01-29 | |||
| JPS6347679B2 | 1988-09-22 | |||
| JP5196649B2 | 2013-05-15 | |||
| JP3118475B2 | 2000-12-18 | |||
| JP6198192B2 | 2017-09-20 | |||
| JP2007022284A | 2007-02-01 |
Other References:
"Technical guidance on electric ship equipment", 2003, THE SHIP'S ELECTRIC INSTALLATION CONTRACTORS' ASSOCIATION OF JAPAN, article "7,11 Automatic Steering Device (Heading Control System"
Attorney, Agent or Firm:
TANAI Sumio et al. (JP)
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