| 摘要 |
When the right turn or left turn is set by operating one joystick lever, the bow thrustor arranged on the bow side generates the drift thrust in the rightward or leftward direction in accordance with the turning angular velocity on the basis of the operation of the joystick lever. At the same time, the propellers provided on the stern side are controlled so as to generate the backward thrust proportional to the absolute value of the turning angular velocity of the ship. The forward thrust of the ship which is caused due to the generation of the drift thrust by the bow thrustor is suppressed. Thus, the ship is turned to the right or left around the stern as a rotational center at a predetermined speed with the position of the hull held.
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