Ship steering device and ship steering method
A ship steering device capable of steering a hull in an intended direction by correcting an unintended rotation that occurs during an oblique sailing operation regardless of the type and size of the hull. A ship steering device is provided with an elevation angle sensor for detecting the elevation angle α of a hull, a hull speed sensor for detecting the speed V of the hull, a storage means storing the relation among the elevation angle α of the hull, the speed V of the hull, and a correction value K, and a calculation means serving as a correction value determination means, and an operation amount by which a joystick is operated such that the hull does not turn in the state in which the hull is obliquely sailed is determined by the calculation means and used as the correction value K.
1. A ship steering device comprising:
a pair of left and right engines;
rotation speed changing actuators independently changing engine rotation speeds of the pair of left and right engines;
a pair of left and right outdrive devices respectively connected to the pair of left and right engines and rotating screw propellers so as to propel a hull;
forward/reverse switching clutches disposed between the engines and the screw propellers;
a pair of left and right steering actuators respectively independently rotating the pair of left and right outdrive devices laterally;
an operation means setting a traveling direction of a ship;
an operation amount detection means detecting an operation amount of the operation means; and
a control device controlling the rotation speed changing actuators, the forward/reverse switching clutches, and the steering actuators so as to travel to a direction set by the operation means,
characterized in that the ship steering device further comprising:
a rotation speed detection means for the outdrive devices;
a lateral rotation angle detection means for the outdrive devices;
a propulsion power vector calculation means calculating propulsion power vectors from rotation speeds and lateral rotation angles of the outdrive devices;
a storage means in which a relation among propulsion power of the hull obtained from norms of the propulsion power vectors, an elevation angle of the hull obtained from angles of the propulsion power vectors, and a correction value is stored; and
a correction value determination means,
wherein the correction value is determined by the correction value determination means based on the operation amount by which the operation means is operated such that the hull does not turn in a state in which the hull is obliquely sailed.