AUTOMATIC SHIP POSITION HOLDING AND CONTROLLING METHOD AND AUTOMATIC SHIP POSITION HOLDING AND CONTROLLING DEVICE

摘要

PROBLEM TO BE SOLVED: To largely lessen the positional deviation compared to a conventional type automatic ship position holding and controlling device by presuming the long-period varying force and long-period varying moment including at least one of the wave drifting force and the wave drifting moment acting on a hull and performing a feedforward control to compensate the long-period varying force.

SOLUTION: The automatic ship position holding and controlling method for holding the hull position and the bow azimuth in the prescribed position and azimuth by controlling a propulsive force generating device 30 on the ocean is to presume the long-period varying force and long-period varying moment including at least one of the long-period varying wave drifting force and the varying wave drifting moment generated by waves about the acting force and moment acting on the hull and control to hold the ship position by conducting a feedforward control to the controlling force and controlling moment generated by the propulsive force generating device 30 to the presumed long-period varying force and the long-period varying moment.

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