| 摘要 |
PROBLEM TO BE SOLVED: To avoid interruption of automatic control caused by overstrain of a rudder system, and also reduce an effect of disturbance acting on a hull.SOLUTION: A position control apparatus 1 for a ship body includes: a feedback control unit 11 for determining a first control command based on a difference between a position of the ship body and a predetermined target position; a disturbance control unit 12 for estimating disturbance force acting on the ship body, and determining a second control command to cancel the disturbance; a control command determination unit 13 for determining a third control command using the first control command and the second control command, and providing it to a rudder system; an estimation unit 14 for estimating a moving amount of a rudder over a predetermined estimation period; and a band adjustment unit 15 for changing parameters concerning a band of at least either one of the feedback control unit 11 and the disturbance control unit 12, depending on an estimation value of the moving amount of the rudder calculated by the estimation unit 14. |
