Ship speed control device, ship speed controlling method, and ship speed control program
A ship speed control device is provided, which includes a calculator and a throttle command value setter. The calculator calculates a throttle calculation value based on a difference between an actual ship speed and a target ship speed. The throttle command value setter sets, when the actual ship speed is below a first threshold determined based on a given throttle upper limit and the throttle calculation value is at or above the throttle upper limit, a throttle command value to the throttle upper limit.
1. An AP controller, comprising:
processing circuitry configured
to calculate a throttle calculation value based on a difference between an actual ship speed and a target ship speed; and
to set a throttle command value to the throttle upper limit when the actual ship speed is below a first threshold determined based on a given throttle upper limit and the throttle calculation value is at or above the throttle upper limit.
2. The AP controller of claim 1 , wherein
the processing circuitry is further configured
to cancel the restriction of the throttle command value using the throttle upper limit; and
to set the throttle calculation value as the throttle command value, when the actual ship speed is at or above the first threshold.
3. The AP controller of claim 1 , wherein
the processing circuitry is further configured to restrict the throttle command value using the throttle upper limit when a ship speed setting, from which the target ship speed is calculated and that is a final ship speed during an automatic ship speed control, is above the first threshold and is at or above a second threshold that is determined based on the throttle upper limit.
4. The AP controller of claim 3 , wherein
the processing circuitry is further configured to set a throttle command value at or below the throttle upper limit corresponding to the difference when the ship speed setting is below the second threshold.
5. The AP controller of claim 3 , wherein
the processing circuitry is further configured
to calculate the target ship speed based on the ship speed setting; and
to set the target ship speed to the second threshold when a target ship speed set by the processing circuitry is above the second threshold and the actual ship speed is below the first threshold.
6. The AP controller of claim 5 , wherein
the processing circuitry is further configured
to calculate the throttle calculation value by a PID control; and
to set a higher integral gain of the PID control during a period when the actual ship speed is below the first threshold and the target ship speed is set to the second threshold.
7. A method of controlling a ship speed, comprising:
calculating, by processing circuitry, a throttle calculation value based on a difference between an actual ship speed and a target ship speed; and
setting, by the processing circuitry, a throttle command value to the throttle upper limit when the actual ship speed is below a first threshold determined based on a given throttle upper limit and the throttle calculation value is at or above the throttle upper limit.
8. The method of claim 7 , further comprising
cancelling, by the processing circuitry, the restriction of the throttle command value using the throttle upper limit; and
setting, by the processing circuitry, the throttle calculation value as the throttle command value
when the actual ship speed is at or above the first threshold.
9. The method of claim 7 , further comprising
restricting, by the processing circuitry, the throttle command value using the throttle upper limit when a ship speed setting, from which the target ship speed is calculated and that is a final ship speed during an automatic ship speed control, is above the first threshold and is at or above a second threshold that is determined based on the throttle upper limit.
10. The method of claim 9 , further comprising
setting, by the processing circuitry, the throttle command value at or below the throttle upper limit corresponding to the difference when the ship speed setting is below the second threshold.
11. The method of claim 9 , further comprising:
calculating, by the processing circuitry, the target ship speed by a target value filter, based on the ship speed setting; and
setting, by the processing circuitry, the target ship speed to the second threshold when a target ship speed set by the target value filter is above the second threshold and the actual ship speed is below the first threshold.
12. The method of claim 11 , further comprising:
calculating, by the processing circuitry, the throttle calculation value by a PID control; and
setting, by the processing circuitry, a higher integral gain of the PID control during a period when the actual ship speed is below the first threshold and the target ship speed is set to the second threshold.
13. A non-transitory computer-readable recording medium storing a program causing a processor of a ship speed control device to execute processing, the processor configured to control operation of the ship speed control device, the processing comprising:
calculating a throttle calculation value based on a difference between an actual ship speed and a target ship speed; and
setting a throttle command value to the throttle upper limit when the actual ship speed is below a first threshold determined based on a given throttle upper limit and the throttle calculation value is at or above the throttle upper limit.
14. The recording medium of claim 13 , the processing further comprising
cancelling the restriction of the throttle command value using the throttle upper limit; and
setting the throttle calculation value as the throttle command value
when the actual ship speed is at or above the first threshold.
15. The recording medium of claim 13 , the processing further comprising
restricting the throttle command value using the throttle upper limit when a ship speed setting, from which the target ship speed is calculated and that is a final ship speed during an automatic ship speed control, is above the first threshold and is at or above a second threshold that is determined based on the throttle upper limit.
16. The recording medium of claim 15 , the processing further comprising
setting the throttle command value at or below the throttle upper limit corresponding to the difference when the ship speed setting is below the second threshold.
17. The recording medium of claim 15 , the processing further comprising:
calculating the target ship speed by a target value filter, based on the ship speed setting; and
setting the target ship speed to the second threshold when a target ship speed set by the target value filter is above the second threshold and the actual ship speed is below the first threshold.
18. The recording medium of claim 17 , the processing further comprising:
calculating the throttle calculation value by a PID control; and
setting a higher integral gain of the PID control during a period when the actual ship speed is below the first threshold and the target ship speed is set to the second threshold.
19. The AP controller of claim 2 , wherein
the processing circuitry is further configured to restrict the throttle command value using the throttle upper limit when a ship speed setting, from which the target ship speed is calculated and that is a final ship speed during an automatic ship speed control, is above the first threshold and is at or above a second threshold that is determined based on the throttle upper limit.
20. The method of claim 8 , further comprising
restricting, by the processing circuitry, the throttle command value using the throttle upper limit when a ship speed setting, from which the target ship speed is calculated and that is a final ship speed during an automatic ship speed control, is above the first threshold and is at or above a second threshold that is determined based on the throttle upper limit.