US 12,466,526 B2
Ship control device and ship control method
Tomoyasu Takahashi, Amagasaki (JP); and Naoya Hashimoto, Nishinomiya (JP)
Assigned to FURUNO ELECTRIC COMPANY LIMITED, Hyogo (JP)
Filed by FURUNO ELECTRIC CO., LTD., Hyogo (JP)
Filed on Aug. 4, 2023, as Appl. No. 18/365,909.
Application 18/365,909 is a continuation in part of application No. PCT/JP2022/000457, filed on Jan. 11, 2022.
Claims priority of application No. 2021-021452 (JP), filed on Feb. 15, 2021.
Prior Publication US 2023/0373600 A1, Nov. 23, 2023
Int. Cl. G05D 1/00 (2024.01); B63B 79/40 (2020.01); B63H 25/04 (2006.01)
CPC B63B 79/40 (2020.01) [B63H 25/04 (2013.01); G05D 1/0206 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A ship control device, comprising:
processing circuitry configured to:
set ship characteristic parameters of a combined system of first-order lag and dead time, which integrates a behavior of a rudder and a behavior of a ship;
calculate control parameters for feedback control with respect to a rudder angle of the rudder using the ship characteristic parameters;
perform the feedback control using the control parameters;
calculate a desired turnrate of a command rudder angle with respect to the rudder angle using the ship characteristic parameters;
perform the feedback control using the desired turnrate;
calculate the control parameters using an evaluation function including the rudder angle, a turnrate, and a heading as evaluation criteria; and
calculate the control parameters by including a squared error between an amount of overshoot of the heading with respect to the target heading and the target heading in the evaluation criteria.