| 摘要 |
A maneuvering system of watercraft and the like provided with maneuvering equipment including a plurality of maneuvering devices, such as thrusters and main screws. The maneuvering system including thrust setting means and moment setting means for setting, for the maneuvering equipment, such a resultant thrust and a sum of turning moments as are necessary for meeting the requirements of maneuvering the watercraft, thrust allocation means having inputted thereto a resultant thrust instruction signal supplied from the thrust setting means and a moment instruction signal supplied from the moment setting means and breaking down such signals into thrust instruction signals necessary to the maneuvering devices of the maneuvering equipment for supplying such thrust instruction signals to the respective maneuvering devices, reduction rate operation means for comparing the thrust instruction signals supplied to the respective maneuvering devices with maximum allowable thrusts set separately for the respective maneuvering devices to calculate reduction rates for reducing the thrust instruction signals and at the same time selecting a reduction rate from all reduction rates that requires a maximum reduction and providing such reduction rate as an output in the form of a maximum reduction rate signal, and thrust reduction means having inputted thereto the thrust instruction signals supplied to the respective maneuvering devices from the thrust allocation means and performing a reduction operation in such a manner that the thrust instruction signals supplied to the respective maneuvering devices from the thrust allocation means are brought within maximum allowable values by the maximum rate signal issued by the reduction rate operation means to issue reduced thrust instruction signals. |
| 申请人 |
KAWASAKI JUKOGYO K.K., KOBE, HYOGO, JP |
发明人 |
NAGATA, OSAMU, KOBE, HYOGO, JP;INAGAKI, MASANARI, AKASHI, HYOGO, JP;YAMADA, HAJIME, KOBE, HYOGO, JP |
