| 摘要 |
PROBLEM TO BE SOLVED: To reduce the number of parameters requiring adjustment. SOLUTION: Regarding the twin-propeller twin-rudder vessel having a bow thruster, under the condition that the steering angle of the rudders 3a, 3b at both left and right gunwale sides is fixed, based on geometric arrangement of left and right propellers 2a, 2b on a hull 1 and the bow thruster 4, a matrix for indicating transmission matrix of (F<SB>b</SB>, T<SB>L</SB>, T<SB>R</SB>)<SP>t</SP>making respective thrusts as an element and (X, Y, N)<SP>t</SP>making longitudinal force X applied to the hull a, lateral force Y and turning round moment N as an element is determined. When the longitudinal force X, the lateral force Y and the turning round moment N as three-direction components of the force required for being applied to the hull 1 are given in order to perform the desired motion relative to the twin-propeller twin-rudder vessel having the bow thruster, the thrust (F<SB>b</SB>, T<SB>L</SB>, T<SB>R</SB>)<SP>t</SP>to be generated on the bow thruster 4 and the left and right propellers 2a, 2b respectively is determined by multiplying a reverse matrix of the transmission matrix on the (X, Y, N)<SP>t</SP>making this as an element. COPYRIGHT: (C)2008,JPO&INPIT
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