Marine vessel running controlling apparatus, marine vessel maneuvering supporting system and marine vessel each including the marine vessel running controlling apparatus, and marine vessel running controlling method
First Claim
1. A marine vessel running controlling apparatus for controlling running of a marine vessel that includes a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of a hull, and a pair of steering mechanisms which respectively change steering angles defined by directions of the propulsive forces generated by the respective propulsion systems with respect to the hull, the marine vessel running controlling apparatus comprising:
- a target combined propulsive force acquiring section which acquires a target combined propulsive force to be applied to the hull by the pair of propulsion systems;
a target movement angle acquiring section which acquires a target movement angle defined by a target movement direction of the hull with respect to a stem direction of the hull;
a steering controlling section which controls the steering angles of the respective steering mechanisms such that a turning angular speed of the hull is substantially equal to a predetermined target angular speed;
a target propulsive force calculating section which calculates target propulsive forces to be generated from the respective propulsion systems based on the target combined propulsive force acquired by the target combined propulsive force acquiring section, the target movement angle acquired by the target movement angle acquiring section and the steering angles of the respective steering mechanisms; and
a propulsive force controlling section which controls the respective propulsion systems so as to attain the target propulsive forces calculated by the target propulsive force calculating section.
1 Assignment
0 Petitions
Accused Products
Abstract
A marine vessel running controlling apparatus controls running of a marine vessel and includes a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of a hull, and a pair of steering mechanisms which respectively change steering angles defined by directions of the propulsive forces with respect to the hull. The apparatus includes a target combined propulsive force acquiring section, a target movement angle acquiring section, a steering controlling section which controls the steering angles of the respective steering mechanisms such that a turning angular speed of the hull is substantially equal to a predetermined target angular speed, a target propulsive force calculating section which calculates target propulsive forces to be generated from the respective propulsion systems based on the target combined propulsive force, the target movement angle and the steering angles of the respective steering mechanisms, and a propulsive force controlling section which controls the respective propulsion systems so as to attain the target propulsive forces.
-
Citations
17 Claims
-
1. A marine vessel running controlling apparatus for controlling running of a marine vessel that includes a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of a hull, and a pair of steering mechanisms which respectively change steering angles defined by directions of the propulsive forces generated by the respective propulsion systems with respect to the hull, the marine vessel running controlling apparatus comprising:
-
a target combined propulsive force acquiring section which acquires a target combined propulsive force to be applied to the hull by the pair of propulsion systems;
a target movement angle acquiring section which acquires a target movement angle defined by a target movement direction of the hull with respect to a stem direction of the hull;
a steering controlling section which controls the steering angles of the respective steering mechanisms such that a turning angular speed of the hull is substantially equal to a predetermined target angular speed;
a target propulsive force calculating section which calculates target propulsive forces to be generated from the respective propulsion systems based on the target combined propulsive force acquired by the target combined propulsive force acquiring section, the target movement angle acquired by the target movement angle acquiring section and the steering angles of the respective steering mechanisms; and
a propulsive force controlling section which controls the respective propulsion systems so as to attain the target propulsive forces calculated by the target propulsive force calculating section. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
-
11. A marine vessel maneuvering supporting system for supporting maneuvering of a marine vessel that includes a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of a hull, and a pair of steering mechanisms which respectively change steering angles defined by directions of the propulsive forces generated by the respective propulsion systems with respect to the hull, the marine vessel maneuvering supporting system comprising:
-
a target propulsive force inputting section for inputting a target combined propulsive force to be applied to the hull by the pair of propulsion systems;
a target movement angle inputting section for inputting a target movement angle defined by a target movement direction of the hull with respect to a stem direction of the hull; and
a marine vessel running controlling apparatus which controls running of the marine vessel based on the target combined propulsive force input from the target propulsive force inputting section and the target movement angle input from the target movement angle inputting section;
the marine vessel running controlling apparatus including;
a target combined propulsive force acquiring section which acquires the target combined propulsive force input from the target propulsive force inputting section;
a target movement angle acquiring section which acquires the target movement angle input from the target movement angle inputting section;
a steering controlling section which controls the steering angles of the respective steering mechanisms such that a turning angular speed of the hull is substantially equal to a predetermined target angular speed;
a target propulsive force calculating section which calculates target propulsive forces to be generated from the respective propulsion systems based on the target combined propulsive force acquired by the target combined propulsive force acquiring section, the target movement angle acquired by the target movement angle acquiring section and the steering angles of the respective steering mechanisms; and
a propulsive force controlling section which controls the respective propulsion systems so as to attain the target propulsive forces calculated by the target propulsive force calculating section.
-
-
12. A marine vessel maneuvering supporting system for supporting maneuvering of a marine vessel that includes a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of a hull, and a pair of steering mechanisms which respectively change steering angles defined by directions of the propulsive forces generated by the respective propulsion systems with respect to the hull, the marine vessel maneuvering supporting system comprising:
-
a target propulsive force inputting section for inputting a target combined propulsive force to be applied to the hull by the pair of propulsion systems;
a target movement angle inputting section for inputting a target movement angle defined by a target movement direction of the hull with respect to a stem direction of the hull;
a target angular speed inputting section for inputting a target angular speed of the hull;
an angular speed detecting section which detects a turning angular speed of the hull; and
a marine vessel running controlling apparatus which controls running of the marine vessel based on the target combined propulsive force input from the target propulsive force inputting section, the target movement angle input from the target movement angle inputting section, the target angular speed input from the target angular speed inputting section and the angular speed detected by the angular speed detecting section;
the marine vessel running controlling apparatus including;
a target combined propulsive force acquiring section which acquires the target combined propulsive force input from the target propulsive force inputting section;
a target movement angle acquiring section which acquires the target movement angle input from the target movement angle inputting section;
a target angular speed acquiring section which acquires the target angular speed input from the target angular speed inputting section;
a steering controlling section which controls the steering angles of the respective steering mechanisms such that the turning angular speed detected by the angular speed detecting section is substantially equal to the target angular speed acquired by the target angular speed acquiring section;
a target propulsive force calculating section which calculates target propulsive forces to be generated from the respective propulsion systems based on the target combined propulsive force acquired by the target combined propulsive force acquiring section, the target movement angle acquired by the target movement angle acquiring section and the steering angles of the respective steering mechanisms; and
a propulsive force controlling section which controls the respective propulsion systems so as to attain the target propulsive forces calculated by the target propulsive force calculating section.
-
-
13. A marine vessel comprising:
-
a hull;
a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of the hull;
a pair of steering mechanisms which respectively change steering angles defined by directions of the propulsive forces generated by the respective propulsion systems with respect to the hull; and
a marine vessel running controlling apparatus which controls the pair of propulsion systems and the pair of steering mechanisms;
the marine vessel running controlling apparatus including;
a target combined propulsive force acquiring section which acquires a target combined propulsive force to be applied to the hull by the pair of propulsion systems;
a target movement angle acquiring section which acquires a target movement angle defined by a target movement direction of the hull with respect to a stem direction of the hull;
a steering controlling section which controls the steering angles of the respective steering mechanisms such that a turning angular speed of the hull is substantially equal to a predetermined target angular speed;
a target propulsive force calculating section which calculates target propulsive forces to be generated from the respective propulsion systems based on the target combined propulsive force acquired by the target combined propulsive force acquiring section, the target movement angle acquired by the target movement angle acquiring section and the steering angles of the respective steering mechanisms; and
a propulsive force controlling section which controls the respective propulsion systems so as to attain the target propulsive forces calculated by the target propulsive force calculating section.
-
-
14. A marine vessel running controlling method for controlling running of a marine vessel that includes a pair of propulsion systems which respectively generate propulsive forces on a rear port side and a rear starboard side of a hull, and a pair of steering mechanisms which respectively change steering angles defined by directions of the propulsive forces generated by the respective propulsion systems with respect to the hull, the method comprising the steps of:
-
acquiring a target combined propulsive force to be applied to the hull by the pair of propulsion systems;
acquiring a target movement angle defined by a target movement direction of the hull with respect to a stem direction of the hull;
controlling the steering angles of the respective steering mechanisms such that a turning angular speed of the hull is substantially equal to a predetermined target angular speed;
calculating target propulsive forces to be generated from the respective propulsion systems based on the target combined propulsive force, the target movement angle and the steering angles of the respective steering mechanisms; and
controlling the respective propulsion systems so as to attain the calculated target propulsive forces. - View Dependent Claims (15, 16, 17)
-
Specification