Patent ID: 11884371
Assignee: FURUNO ELECTRIC COMPANY LIMITED
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 15:
16. A non-transitory computer-readable recording medium storing a program causing processing circuitry of a ship body control device to execute processing, the processing circuitry configured to control operation of the device, the processing comprising:
measuring a ship body direction of a ship;
calculating an angle of deviation of a stern direction of the ship from a target stern direction of the ship based on the ship body direction;
setting a rudder angle command so as to maintain a current rudder angle when the angle of deviation is less than a first threshold, and change the rudder angle to a given fixed turning rudder angle when the angle of deviation is the first threshold or more;
controlling the rudder angle of the ship based on the rudder angle command,
wherein
a propulsion force command is set so that a propulsion force is zero when the angle of deviation is less than a second threshold, and the propulsion force is a value according to the angle of deviation when the angle of deviation is the second threshold or more, and
the propulsion force of the ship is controlled based on the propulsion force command.