Ship handling device
The purpose is providing a ship handling device easily determining a predetermined correction coefficient regardless of positions of a side thruster and a forward/backward propeller and the center of gravity of a ship and the shape of the ship. The device is provided with a joystick lever for indicating a propulsion direction and the magnitude of thrust by tilting direction and angle, wherein: a lateral movement thrust is generated by the side thruster in accordance with the joystick lever; a first correction thrust is generated by the forward/backward propeller in accordance with the joystick lever so as to cancel out a rotation moment; and a first correction coefficient for calculating a first correction thrust with respect to the lateral movement thrust is determined.
1. A ship handling device for a ship being disposed in a ship body,
and provided with a forward/backward propeller for generating thrust in forward and backward direction of the ship by power transmitted from an engine via a propeller shaft and with a side thruster for generating thrust in left and right direction of the ship,
and comprising: a joystick lever for indicating a propulsion direction of the ship and magnitude of thrust by way of a tilt direction and a tilt angle and indicating a direction and magnitude of moment generated by the ship from thrust by way of a rotation direction and a rotation amount,
wherein a lateral movement thrust is generated by the side thruster in accordance with a tilting operation of the joystick lever in one left and right direction,
a first correction thrust is generated by the forward/backward propeller in accordance with a rotating operation of the joystick lever so as to cancel out a moment generated by the lateral movement thrust,
and a first correction coefficient for calculating a first correction thrust with respect to the lateral movement thrust is determined.
2. The ship handling device according to claim 1 ,
wherein a left and right direction force component of oblique movement thrust generated by the side thruster is generated in accordance with an operation amount in a left and right direction in the tilting operation on the joystick lever in a desired oblique direction, and a forward and backward direction force component of oblique movement thrust generated by the forward/backward propeller is generated in accordance with an operation amount in the forward and backward direction in the tilting operation on the joystick lever in the desired oblique direction,
wherein the first correction thrust based on the first correction coefficient is further generated by the forward/backward propeller with respect to the left and right direction force component,
and second correction thrust is further generated by the forward/backward propeller and third correction thrust is further generated by the side thruster in accordance with a rotating operation performed on the joystick lever for canceling out a moment generated by an oblique movement of the ship, and
wherein a second correction coefficient for calculating a second correction thrust with respect to forward and backward direction force component and a third correction coefficient for calculating a third correction thrust with respect to left and right direction force component are determined.