| 摘要 |
<p>An instruction-value conversion subsection 31 of an operational-target-value computation section 30 converts instruction signals received from a joystick 25. In order to achieve a mode of movement of a ship as intended by a ship operator, by use of the converted values, a target propeller rotational-speed computation subsection 32 computes target rotational speeds for left and right propellers 13 and a propeller 14b of a thruster 14, respectively. In a main-engine operation control section 40, in order to rotate the propellers 13 at the respective target rotational speeds, a target slip ratio determination subsection 41 computes a slip ratio U for clutch mechanisms 120 of marine gears 12. A drive control subsection 42 controls operations of main engines 11 and the clutch mechanisms 120. In a thruster operation control section 50, a drive control subsection 52 drives and controls the propeller 14b so as to rotate the propeller 14b in a direction determined by an operation determination subsection 51.</p> |
