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

Claim 0:
1. A vessel anti-rolling control apparatus comprising:
an azimuth commander that generates an azimuth command signal indicating an azimuth to which a vessel should travel;
a yaw-angle detector that outputs a yaw-angle signal indicating a rotation angle around a vertical axis passing through a gravity center of the vessel;
a rolling-angle detector that outputs a rolling-angle signal indicating a rotation angle around an anteroposterior-direction axis passing through the gravity center of the vessel;
a rolling-angular-velocity detector that 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 vessel-speed detector that outputs a vessel-speed signal indicating a vessel speed of the vessel;
an azimuth controller that outputs a first steering-angle command value for making the vessel turn to the azimuth to which the vessel should travel, based on the azimuth command signal and the yaw-angle signal;
an anti-rolling controller that 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 steering-angle controller that controls a steering angle, based on the first steering-angle command value and the second steering-angle command value.