Vessel anti-rolling control apparatus and anti-rolling control method
In a conventional vessel anti-rolling apparatus, because a large memory capacity and a high-speed high-function computing processing unit are required, the cost of the vessel anti-rolling apparatus is caused to rise. A vessel anti-rolling control apparatus and an anti-rolling control method according to the present disclosure includes an azimuth controller that outputs a first steering-angle command value for making the vessel turn to an azimuth to which the vessel should travel, based on an azimuth command signal and a yaw-angle signal, an anti-rolling controller that outputs a second steering-angle command value for reducing rolling of the vessel, based on a rolling-angle signal, a rolling-angular-velocity signal, and a vessel-speed signal, and a steering-angle controller that controls a steering angle, based on the first steering-angle command value and the second steering-angle command value.
1. A vessel anti-rolling control apparatus comprising:
an azimuth commander that generates an azimuth command signal indicating an azimuth to which a vessel should travel;
a yaw-angle detector that outputs a yaw-angle signal indicating a rotation angle around a vertical axis passing through a gravity center of the vessel;
a rolling-angle detector that outputs a rolling-angle signal indicating a rotation angle around an anteroposterior-direction axis passing through the gravity center of the vessel;
a rolling-angular-velocity detector that outputs a rolling-angular-velocity signal indicating a rotation angular velocity around an anteroposterior-direction axis passing through the gravity center of the vessel;
a vessel-speed detector that outputs a vessel-speed signal indicating a vessel speed of the vessel;
an azimuth controller that outputs a first steering-angle command value for making the vessel turn to the azimuth to which the vessel should travel, based on the azimuth command signal and the yaw-angle signal;
an anti-rolling controller that outputs a second steering-angle command value for reducing rolling of the vessel, based on the rolling-angle signal, the rolling-angular-velocity signal, and the vessel-speed signal; and
a steering-angle controller that controls a steering angle, based on the first steering-angle command value and the second steering-angle command value.
2. The vessel anti-rolling control apparatus according to claim 1 , further comprising a yaw-angular-velocity detector that outputs a yaw-angular-velocity signal indicating a rotation angular velocity around a vertical axis passing through the gravity center of the vessel, wherein the azimuth controller outputs the first steering-angle command value, based on the azimuth command signal, the yaw-angle signal, and the yaw-angular-velocity signal.
3. The vessel anti-rolling control apparatus according to claim 2 , wherein the azimuth controller outputs the first steering-angle command value, based on a yaw-angle error, which is a error between the azimuth command signal and the yaw-angle signal, and a yaw-angular-velocity error, which is a error between the yaw-angular-velocity signal and a yaw-angular-velocity command signal generated based on the yaw-angle error.
4. The vessel anti-rolling control apparatus according to claim 1 , wherein the yaw-angle signal is a signal indicating a traveling azimuth of the vessel on a horizontal plane perpendicular to gravity.
5. The vessel anti-rolling control apparatus according to claim 1 , further comprising a band-pass filter that permits passage of a signal in a predetermined frequency bandwidth, wherein the anti-rolling controller outputs a second steering-angle command value, based on the vessel-speed signal, the rolling-angle signal that has passed through the band-pass filter, and the rolling-angular-velocity signal that has passed through the band-pass filter.
6. The vessel anti-rolling control apparatus according to claim 5 , wherein the band-pass filter changes its characteristic in accordance with the vessel-speed signal.
7. The vessel anti-rolling control apparatus according to claim 5 , wherein by use of a map or a function whose characteristic changes in accordance with the vessel-speed signal, the anti-rolling controller outputs the second steering-angle command value, based on the rolling-angle signal and the rolling-angular-velocity signal that have passed through the band-pass filter.
8. The vessel anti-rolling control apparatus according to claim 1 , wherein the steering-angle controller controls a steering angle, based on the sum of a value obtained by multiplying the first steering-angle command value by a first gain and a value obtained by multiplying the second steering-angle command value by a second gain.
9. The vessel anti-rolling control apparatus according to claim 8 , wherein the steering-angle controller determines the first gain in accordance with a yaw-angle error that is a error between the azimuth command signal and the yaw-angle signal.
10. The vessel anti-rolling control apparatus according to claim 8 , further comprising a yaw-angular-velocity detector that outputs a yaw-angular-velocity signal indicating a rotation angular velocity around a vertical axis passing through the gravity center of the vessel,
wherein the azimuth controller generates a yaw-angular-velocity command signal indicating a target yaw angular velocity, based on a yaw-angle error that is an error between the azimuth command signal and the yaw-angle signal, and
wherein the steering-angle controller determines the first gain, based on a yaw-angular-velocity error that is an error between the yaw-angular-velocity command signal and the yaw-angular-velocity signal.
11. The vessel anti-rolling control apparatus according to claim 10 , wherein when the yaw-angle error is smaller than a first threshold value or when the yaw-angular-velocity error is smaller than a second threshold value, the steering-angle controller decrease the first gain.
12. The vessel anti-rolling control apparatus according to claim 8 , wherein the steering-angle controller determines the first gain, based on the rolling-angular-velocity signal.
13. The vessel anti-rolling control apparatus according to claim 12 , wherein when the rolling-angular-velocity signal is the same as or larger than a third threshold value, the steering-angle controller decreases the first gain.
14. The vessel anti-rolling control apparatus according to claim 8 , wherein the steering-angle controller determines the second gain, based on the rolling-angular-velocity signal.
15. The vessel anti-rolling control apparatus according to claim 14 , wherein when the rolling-angular-velocity signal is smaller than a fourth threshold value, the steering-angle controller decreases the second gain.
16. The vessel anti-rolling control apparatus according to claim 8 , wherein each of the first gain and the second gain is 1.
17. A vessel anti-rolling control method comprising:
a step in which an azimuth commander generates an azimuth command signal indicating an azimuth to which a vessel should travel;
a step in which a yaw-angle detector outputs a yaw-angle signal indicating a rotation angle around a vertical axis passing through a gravity center of the vessel;
a step in which a rolling-angle detector outputs a rolling-angle signal indicating a rotation angle around an anteroposterior-direction axis passing through the gravity center of the vessel;
a step in which a rolling-angular-velocity detector outputs a rolling-angular-velocity signal indicating a rotation angular velocity around an anteroposterior-direction axis passing through the gravity center of the vessel;
a step in which a vessel-speed detector outputs a vessel-speed signal indicating a vessel speed of the vessel;
a step in which in accordance with an error between the azimuth command signal and the yaw-angle signal, an azimuth controller outputs a first steering-angle command value for making the vessel turn to the azimuth to which the vessel should travel;
a step in which an anti-rolling controller outputs a second steering-angle command value for reducing rolling of the vessel, based on the rolling-angle signal, the rolling-angular-velocity signal, and the vessel-speed signal; and
a step in which a steering-angle controller controls a steering angle, based on the first steering-angle command value and the second steering-angle command value.