Patent ID: 11947364
Assignee: MITSUBISHI ELECTRIC CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC G  B | IPC B  G

Claim 16:
17. A vessel anti-rolling control method comprising:
a step in which an azimuth commander generates an azimuth command signal indicating an azimuth to which a vessel should travel;
a step in which a yaw-angle detector outputs a yaw-angle signal indicating a rotation angle around a vertical axis passing through a gravity center of the vessel;
a step in which a rolling-angle detector outputs a rolling-angle signal indicating a rotation angle around an anteroposterior-direction axis passing through the gravity center of the vessel;
a step in which a rolling-angular-velocity detector outputs a rolling-angular-velocity signal indicating a rotation angular velocity around an anteroposterior-direction axis passing through the gravity center of the vessel;
a step in which a vessel-speed detector outputs a vessel-speed signal indicating a vessel speed of the vessel;
a step in which in accordance with an error between the azimuth command signal and the yaw-angle signal, an azimuth controller outputs a first steering-angle command value for making the vessel turn to the azimuth to which the vessel should travel;
a step in which an anti-rolling controller outputs a second steering-angle command value for reducing rolling of the vessel, based on the rolling-angle signal, the rolling-angular-velocity signal, and the vessel-speed signal; and
a step in which a steering-angle controller controls a steering angle, based on the first steering-angle command value and the second steering-angle command value.