JP2005247018A - Oscillation control processing method and device, oscillation control system and program for oscillation control processing method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an oscillation control processing method, a device, etc. capable of carrying out oscillation control processing efficiently using a rudder without changing an existing steering gear, etc. <P>SOLUTION: This oscillation control processing device 10 outputs a signal including a steering angle value which is a command steering angle value based on a command steering angle signal transmitted from the steering gear 20 added with an offset value by computing the offset value of a steering angle to carry out oscillation control by the rudder 2 toward a steering engine control box 30 to be a steering control system gear as an adjusted command steering angle signal. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a shaking control processing method and apparatus, a shaking control system, and a shaking control processing program that can be applied to all ships having a steering device.

  From the viewpoint of improving the ride comfort of passengers, a plurality of methods have been proposed for suppressing the rolling (swing in the direction perpendicular to the bow-stern direction) (hereinafter referred to as “swing reduction”). As one of them, for example, the moment (roll moment) that occurs immediately after changing the rudder angle by steering and tries to incline the hull laterally (roll moment) is actively used, and reduced by steering while maintaining the target course. A rudder reduction device for shaking is disclosed (for example, see Patent Document 1). In this device, it is possible to navigate the tracking course while performing rudder reduction based on the tracking course signal from the electronic chart device.

Japanese Unexamined Patent Publication No. 2000-264284 (pages 2 to 4, FIG. 1)

  However, the autopilot function is included in the apparatus as described above. Further, when performing steering by a general steering stand (steering device), the switch is used by switching to an RC (remote control) position. For this reason, in manual steering using a steered wheel, the signal does not pass through the rudder vibration reduction device, so that the rudder vibration cannot be performed. In addition, for example, when an automatic boat maneuvering function is to be added to such a steering apparatus, even if the automatic boat maneuvering function is connected to the RC position as it is, it is not possible to reduce the rudder during automatic boat maneuvering. In addition, in a steering stand having only one RC position, it is impossible to even connect to a rudder reduction device unless a modification is made to add another RC position to the steering stand. The same can be said for the case where not only the vibration reduction but also the vibration control using the rudder is performed. In addition to the control of the rudder system device, the automatic boat maneuvering here automatically controls the propulsion system device, etc., and controls not only the navigation course but also the ship speed, etc. to maintain the navigation route or fixed point. Say things.

  Therefore, an object of the present invention is to obtain a shake control processing method, apparatus, and the like that can efficiently perform a shake control process using a rudder without changing an existing steering device or the like.

  In order to achieve the above-described object, the fluctuation control processing method according to the present invention includes a step of calculating an offset value of a rudder angle for performing fluctuation control by a rudder, and a command rudder based on a command rudder angle signal transmitted from a steering device. And a step of outputting a signal including a steering angle value obtained by adding an offset value to the angle value to the rudder control system device as an adjusted command steering angle signal.

  In addition, the vibration control processing method according to the present invention includes a step of transmitting either one of the command steering angle signal transmitted from the steering device and the adjusted command steering angle signal to the steering control system device. Also have.

  Further, the shake control processing device according to the present invention calculates a steering angle offset value for performing the shake control by the rudder based on the physical quantity data and the roll angle data used for the navigation control, and performs the steering control. A command rudder angle signal obtained by adjusting the command rudder angle signal output from the steering device to be performed based on the offset value is output to the rudder control system device.

  In addition, the shake control processing device according to the present invention has data of a hull model for each ship or each type of ship, and calculates an offset value using the data.

  Further, the shake control processing device according to the present invention calculates the steering rudder angle offset value for performing the rudder swing control, and calculates the command rudder angle value obtained by adjusting the command rudder angle value based on the offset value. And a command rudder angle based on a command rudder angle signal output from a steering device for performing steering control, comprising one or more signal conversion means for converting a signal between the motion control means and an external device. The value is adjusted, and the adjusted command rudder angle signal is output to the rudder control system device.

  Further, the motion control means of the motion control processing device according to the present invention includes an operation amount calculation unit that calculates a moment necessary for performing the motion control as an operation amount based on at least data relating to the roll angle, and the calculated operation amount. And an offset value calculation unit that calculates the offset value of the rudder angle based on data relating to the water flow received by the rudder, and an addition unit that adds the offset value and the command rudder angle value. In some cases, response rudder angle data transmitted from the rudder control system device is also used to calculate the operation amount and the offset value.

  In addition, the operation amount calculation unit of the shake control processing device according to the present invention takes into consideration the frequency characteristics based on the ship's shake and the frequency characteristics based on the turning motion, and has an operation quantity having a frequency characteristic that affects only the shake. Is calculated.

  Moreover, the oscillation control processing device according to the present invention further includes a steering angle limiting unit that determines whether or not the adding unit performs a process of adding an offset value to the command steering angle value.

  In the shake control processing device according to the present invention, a command steering angle signal of any one of manual steering, an autopilot function, and an automatic boat maneuvering function is transmitted from the steering device.

  Further, the vibration control system according to the present invention includes the above-described vibration control processing device and the command steering angle signal transmitted from the steering device for performing steering control or the command steering angle signal adjusted by the vibration control processing device, Selecting means for transmitting one of the selected signals to the rudder control system device.

  In addition, the program of the fluctuation control processing method according to the present invention includes a step of calculating a moment necessary for performing the fluctuation control as an operation amount based on at least data relating to the roll angle, and an operation amount and data relating to a water flow received by the rudder. And calculating a new command rudder angle value by adding the offset value to the command rudder angle value instructed by the steering device to the rudder control system device. Let me do it. In some cases, response rudder angle data transmitted from the rudder control system device is also used to calculate the operation amount and the offset value. In addition, the rudder for controlling the turning motion is originally used for the shaking control, and it is necessary to prevent the turning motion from occurring by the steering for the shaking control.

  As described above, according to the present invention, since the existing apparatus inputs and outputs signals used for control and adjusts the command signal to perform the swing control by the rudder, the fundamental equipment change is performed. Even if there is not, it is possible to perform the shaking control (particularly rudder reduction) processing. Therefore, installation time and cost are not required, which is convenient in terms of cost. In particular, with respect to the command rudder angle signal, in the steering device, for example, the swing control can be performed regardless of the command rudder angle signal output by any one of the manual, autopilot function, and automatic boat maneuvering function using the steered wheels. This can be applied regardless of whether the steering control method in the steering device increases or decreases. In addition, since the offset value is calculated using the data of the ship or the hull model according to the type of ship, it is possible to perform more accurate shaking control corresponding to different characteristics depending on each ship.

  In addition, when the command rudder angle value is large, the command rudder angle value and the offset value are not added, so the rudder control system device for the command rudder angle signal based on the command rudder angle value that is dangerous for the hull. Can be prevented in advance. Further, a selection unit such as a switch is used to select whether the command steering angle signal is directly transmitted from the steering device to the rudder control system device or whether the adjusted command steering angle signal subjected to the swing control is transmitted to the rudder control system device. Therefore, it is possible to easily select the shaking control.

Embodiment 1 FIG.
FIG. 1 is a schematic diagram of a system including an apparatus for realizing a rudder reduction processing method according to a first embodiment of the present invention. Each device constituting the system is provided in the hull 1. The shake control processing device 10 is provided between the steering device 20 and the steering machine control box 30 so as to interrupt the command steering angle signal adjusted to reduce the command steering angle signal from the steering device 20. Output to the steering machine control box 30. The adjusted command steering angle signal is not essentially different from the command steering angle signal output by the steering device 20 as a signal format (format).

  FIG. 2 is a diagram showing the system of FIG. 1 in detail from various signal flows. The steering device 20 includes a steering wheel unit 21, an autopilot processing device 22, an automatic boat maneuvering processing device 23, an automatic boat maneuvering setting input device 24, a changeover switch 25, and a bypass switch 26. The steered wheel unit 21 outputs a command rudder angle signal based on the command rudder angle value instructed by the ship operator manually rotating the steered wheel.

  The autopilot device 22 outputs a command steering angle signal based on the autopilot function based on own ship heading data included in the signal transmitted from the gyrocompass 70. The autopilot function of the present embodiment is a function for automatically calculating a rudder angle for proceeding to a predetermined direction (heading) based on own ship direction data and calculating a command rudder angle value. is there.

  The automatic boat maneuvering device 23 outputs a command steering angle signal based on the automatic boat maneuvering function. In the present embodiment, the automatic ship maneuvering function includes, for example, own ship heading data included in the signal transmitted from the gyrocompass 70, own ship position, speed, wind power, and the like included in the signal transmitted from the navigation support device 50. Wind direction data, needle changing point instruction, speed instruction and azimuth instruction data included in the signal transmitted from the information processing device 60, main shaft controlled by the actuator unit 3, main shaft rotation speed of a screw, CPP blade angle (variable pitch) The main shaft rotation speed at which a value such as the pitch angle of the propeller is detected, the data included in the detection signal transmitted from the detector 90 such as the CPP blade angle, and the response steering angle included in the signal transmitted from the steering machine control box 30 This is a function to calculate a command steering angle value by calculating a steering angle for advancing a ship to a predetermined point based on the data. When navigating using the automatic marine vessel maneuvering function by the automatic marine vessel maneuvering device 23, for example, maneuvering with a joystick can be performed in various modes, the automatic marine vessel maneuver setting input device 24 selects which mode to perform. And a device for inputting.

  The changeover switch 25 outputs which of the command steering angle signals respectively transmitted from the steering wheel unit 21, the autopilot device 22 or the automatic boat maneuvering processor 23 (that is, which of the steering wheel, autopilot function, and automatic boat maneuvering function is used). This is a switch for the operator to select whether to perform rudder control. Further, the bypass switch 26 is a switch for the ship operator to select which signal of the command steering angle signal or the command steering angle signal adjusted for steering reduction is to be transmitted to the steering machine control box 30. . The bypass switch 26 may not be provided in the steering device 20 as long as the function can be exhibited, but may be provided in the sway control processing device 10, for example. Further, the switch may be automatically switched by using a relay circuit or the like.

  Further, the shake control processing device 10 includes a shake control means 11, a level selection switch 12, and signal conversion means 13 and 14. The fluctuation control processing device 10 according to the present embodiment includes roll angular velocity data included in a signal from the roll angular velocity detector 40 (for example, an optical fiber gyroscope) and data related to the velocity (data transmitted from the navigation support device 50). From the steering wheel control box 30 and the data on the main shaft rotational speed and the CPP blade angle included in the response signal transmitted from the actuator unit 3 for controlling the screw, etc. Based on response rudder angle data included in the transmitted response rudder angle signal, rudder reduction processing is performed, and an adjusted command rudder angle signal is output. Further, the shake control processing device 10 has, as data, a unique parameter (hull motion model) corresponding to each ship or the type of ship. The hull motion model is data representing the characteristics of the ship including, for example, the ship weight, the center of gravity of the hull, the area of the rudder 2 and the like, data related to the steering lift force, the steering speed, and the like. In the present embodiment, the command steering angle signal adjusted using the above data is output. However, the present invention is not particularly limited to these data. For example, instead of the roll angular velocity, the roll angle that is an integral value thereof is used. For example, the rudder reduction process may be performed using data based on other physical quantities. Further, it is possible to add more data to cause the rudder to be highly accurate and to omit the processing by omitting the data. In addition, a roll here represents horizontal rotation.

  The shake control means 11 that is a main part for performing the rudder reduction process further includes an operation amount calculation unit 101, a vibration reduction rudder angle calculation unit 102, a gain table selection unit 103, a rudder angle restriction unit 104, and a data addition unit 105. It is configured. The operation amount calculation unit 101 calculates the value of the operation amount (roll moment) induced in the direction of vibration reduction based on the roll angular velocity data included in the signal from the roll angular velocity detector 40. The manipulated variable is a value of a physical quantity expressed by force, for example. Here, in order to prevent the turning motion from being caused by rudder reduction, the operation amount calculation unit 101 considers the frequency characteristics based on the shaking of the ship and the frequency characteristics based on the turning movement of the ship, and affects only the shaking. An operation amount having a frequency characteristic that exerts the above is calculated. In some cases, response rudder angle data included in a signal transmitted from the steering machine control box 30 is also used for calculating the operation amount.

  When the steering angle calculation unit 101 calculates the operation amount, gain data for weighting is prepared, for example, for several stages according to the degree (level) of importance of the vibration reduction control (keeping performance) Then, each level and gain are associated with each other and stored in the gain table selection unit 103 as a table. Then, by operating the level selection switch 12 that can select the shaking control level, the operator (human) can select the level to place importance on the shaking control or the needle holding accuracy depending on the situation. The operation amount calculation unit 101 uses gain data corresponding to the selected level for calculation based on the correspondence relationship in the table. The relationship between gain and level also differs depending on the ship. Here, in some cases, the level selection switch 12 may not be provided, and may be automatically switched by, for example, a relay circuit.

  The offset value calculation unit 102 minimizes the absolute value of the roll angular velocity based on the operation amount data calculated by the operation amount calculation unit 101 and the data on the speed based on the signal transmitted from the actuator unit 3 or the like. A steering angle offset value (a reduced steering angle; hereinafter simply referred to as an offset value) is calculated. In some cases, response steering angle data based on the response steering angle signal transmitted from the steering machine control box 30 is also used for calculating the offset value.

  If the steering angle limiter 104 determines that the command steering angle value based on the command steering angle signal exceeds the predetermined range, it may be dangerous depending on the situation if the command steering angle value is too large. The data adding unit 105 is provided so that the offset value is not added to the command steering angle value (the offset value 0 is added to the data adding unit 105). The data adding unit 105 adds the command steering angle value and the offset value.

  The actual oscillation control means 11 is, for example, a calculation control means (computer) centered on a CPU (Central Processing Unit) as a hardware, and a storage means such as a ROM (Read Only Memory) or an HDD (Hard Disk Drive). It is configured. The processing procedures and the like of each part are programmed in advance (configured by software), and stored in the storage unit together with necessary data such as a hull motion model. Then, the arithmetic control means executes the program, performs processing based on the program, and realizes processing for calculating the adjusted command steering angle value. Here, the arithmetic control means performs all the processes based on the program. However, for example, the means for performing the processes of each unit or two or more units can be configured as independent hardware (including firmware and the like). .

  In addition, in order to smoothly input / output data signals to / from the motion control means 11, the motion control processing apparatus 10 converts various signals into signals including digital data that can be processed by the motion control means 11, for example. A conversion means 13 and a signal conversion means 14 for converting a signal including digital data into a command steering angle signal are provided. The type of the command rudder angle signal may vary depending on the type of ship, etc., but in the shake control processing device 10 of the present embodiment, each ship simply changes the signal conversion means 13 and 14 according to the type of signal. It can be made to correspond. If the fluctuation control means 11 can perform processing without converting the signal, the signal conversion means 13 and 14 need not be provided.

  The steering machine control box 30 controls the steering machine 31 based on the command steering angle signal or the adjustment command steering angle signal. Based on the control of the steering machine control box 30, the steering machine 31 is a driving means for driving the rudder 2. Existing means can be used for these means.

  In addition, the navigation support apparatus 50 is transmitted with signals including data on the ship position, speed, wind force, and wind direction from the ship position detector 51, speed (tidal current) detector 52, wind direction, and wind speed detector 53, respectively. The The navigation support apparatus 50 further transmits a signal obtained by processing the data as it is or processed to the automatic boat maneuvering processing apparatus 23 and the information processing apparatus 60. The navigation support device 50 and the information processing device 60 may not be provided depending on the ship. In such a case, a signal including data is transmitted directly from each detector.

  In the system for realizing the rudder vibration reduction processing method of the present embodiment, the bypass switch 26 and the path through which the command rudder angle signal is directly transmitted from the steering device 20 to the steering gear control box 30 and the vibration control processing device 10. It is possible to select two types of routes that are transmitted via. When the motion control processing device 10 is passed, the motion control processing device 10 interrupts between the steering device 20 and the steering machine control box 30, and an offset value for vibration reduction is added and adjusted command. A steering angle signal is transmitted to the steering machine control box 30. In the case of this structure, the command steering angle signal output from the steering device 20 and the command steering angle signal transmitted to the steering machine control box 30 can be signals of the type conventionally used in the ship. Further, the signal (data) input to the fluctuation control processing device 10 is almost transmitted to and used by other existing processing devices. For this reason, rudder reduction can be realized only by adding the bypass switch 26 and the shake control processing device 10 (in some cases, the roll angular velocity detector 40) without fundamentally changing the equipment. However, in the case of a steering device that performs control based on the response steering angle value and displays an abnormality display when the difference between the command steering angle value and the response steering angle value is determined to be greater than a certain value, Adjustment is required.

  Next, the process flow of the shake control processing device 10 centering on the shake control means 11 will be described. In the operation amount calculation unit 101, the roll angular velocity data included in the signal from the roll angular velocity detector 40 represents the rate of change of the horizontal inclination of the hull 1. The roll angular velocity data and the response steering angle data included in the signal transmitted from the steering machine control box 30 are accumulated for a certain past time, for example, and the roll angular velocity is predicted (roll angle). The amount of operation (roll moment) induced in the direction) is calculated. At that time, gain data corresponding to the level selected by the level selection switch 12 is used.

  The offset value calculation unit 102 calculates an offset value based on the operation amount, the response steering angle data, and the data related to the speed. In rudder reduction, a moment (force) generated immediately after the rudder angle is changed is used. This moment is also affected by the pressure received by the rudder 2, and the pressure varies not only with the rudder angle but also with the fluid velocity and the like. Since the rudder 2 is provided on the rear side of the screw with respect to the traveling direction of the ship, the fluid speed is affected not only by the ship speed but also by the movement of the screw. For this reason, in the present embodiment, the offset value is calculated using the water speed data, the spindle rotational speed data, and the CPP blade angle data. Further, as the frequency characteristic of the shaking control processing device 10, the gain is adjusted to be increased in the frequency band of the rolling motion and the gain is adjusted to be decreased in the frequency band of the turning motion. As a control system design method, a function of frequency characteristics that increases in the frequency band of rolling motion and decreases in the frequency band of turning motion is used as a weight for the control amount in the control performance evaluation function used when determining gain. I think that.

  When the rudder angle limiter 104 determines that the command rudder angle value based on the command rudder angle signal exceeds a predetermined range, the data adding unit 105 does not add the command rudder angle value and the offset value. To do. Here, in the present embodiment, the rudder angle limiting unit 104 selects whether or not to add the offset value based on the command rudder angle value, but the sum of the command rudder angle value and the offset value is a predetermined value. A process of adding an offset value that does not exceed the range may be performed. The value added by the data adding unit 105 is output toward the steering machine control box 30 as a command steering angle signal adjusted by the signal converter 14. If the bypass switch 26 is selected on the side where the rudder is to be reduced, the adjusted command steering angle signal is input to the steering machine control box 30.

  As described above, according to the first embodiment, the steering control unit 11 calculates the steering device 20 based on the steering angle offset value for rudder reduction calculated based on various data such as roll angular velocity data. After adjusting the command steering angle signal output from the steering wheel and transmitting it to the steering machine control box 30, the rudder was shaken to suppress the roll, so there was no need to make fundamental equipment changes Rudder can be reduced. Therefore, it can be installed using the existing ship steering device 20 and the steering machine control box 30. In addition, the motion control processing device 10 can also cope with, for example, a command rudder angle signal that varies depending on the type of ship by simply changing the signal converters 13 and 14. From the above, installation time and cost are not required, which is convenient in terms of cost. Further, by configuring such a route of the command steering angle signal, in the present embodiment, for steering control by each of the steering unit 21, the autopilot device 22, and the automatic boat maneuvering processing device 23, for each of the steering reduction A total of six types of rudder control can be realized depending on whether or not the command rudder angle is adjusted. Further, the sway control processing device 10 can also be handled without being influenced by the configuration of the steering device 20, for example, the automatic ship handling processing device 23 is not provided. Here, when there is an emergency steering mode or the like in which the steering plate is directly controlled without using the command steering angle signal in an emergency, the command control angle signal is not used and thus the shake control processing device 10 does not function. Further, since the shake control means 11 calculates the offset value using the hull model corresponding to each ship, it can be expected to reduce the rolling effect (generally it can be estimated to be about 40 to 50%). .

Embodiment 2. FIG.
In the above-described embodiment, the description has been made with the addition of the shake control processing device 10 in the existing facility in mind, but the present invention is not limited to this. For example, when the steering device 20 is newly installed, each unit constituting the fluctuation control processing device 10 can be incorporated in the steering device 20. In this case, an interface circuit for distributing and inputting signals transmitted from the actuator unit 3 and the like can be omitted. Further, it can be integrated with the processing means constituting the steering device 20.

Embodiment 3 FIG.
In the above-described embodiment, the bypass switch 26 is provided independently. However, for example, the level selection switch 12 provided in the shake control processing device 10 has a level that does not reflect rudder reduction at all. Functions can also be integrated by setting.

Embodiment 4 FIG.
In the above-described embodiment, the offset value is calculated after calculating the operation amount (roll moment), but the calculation method leading to the calculation of the rudder angle for rudder reduction is particularly limited to the above-described one. It is not something. In the above-described embodiment, an offset value is calculated for rudder reduction, and an adjusted command rudder angle signal is output. Although the present invention is not general, the present invention can also be applied to other vibration control processing methods such as increasing the vibration and maintaining the vibration.

BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic diagram of the system containing the apparatus which implement | achieves the rudder reduction processing method which concerns on the 1st Embodiment of this invention. It is the figure which showed the system of FIG. 1 in detail from the flow of various signals.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Hull 2 Rudder 3 Actuator part 10 Shaking control processing device 11 Shaking control means 12 Level selection switch 13, 14 Signal conversion means 20 Steering device 21 Steering wheel part 22 Autopilot device 23 Automatic ship maneuvering processing device 24 Automatic ship steering setting input device 25 Changeover switch 26 Bypass switch 30 Steering machine control box 31 Steering machine 40 Roll angular velocity detector 50 Navigation support device 51 Own ship position detector 52 Speed (tidal current) detector 53 Wind direction wind speed detector 60 Information processing device 70 Gyrocompass 90 Spindle rotation Speed, CPP blade angle detector 101 Operation amount calculator 102 Offset value calculator 103 Gain table selector 104 Steering angle limiter 105 Data adder

Claims (11)

A step of calculating an offset value of a rudder angle for performing swing control by the rudder;
Outputting a signal including a steering angle value obtained by adding the offset value to a command steering angle value based on a command steering angle signal transmitted from the steering device to the steering control system device as an adjusted command steering angle signal. An oscillation control processing method characterized by comprising:   The method further comprises a step of transmitting one of the selected steering angle signal transmitted from the steering device and the adjusted command steering angle signal to the rudder control system device. The shaking control processing method according to 1.   Based on the physical quantity data used for navigation control and the data related to the roll angle, the steering angle offset value for performing the steering control by the rudder is calculated, and the command steering angle output from the steering device for performing the steering control A shake control processing device characterized by outputting a command rudder angle signal obtained by adjusting a signal based on the offset value to a rudder control system device.   4. The sway control processing apparatus according to claim 3, further comprising hull model data for each ship or each type of ship, wherein the offset value is calculated using the data. An oscillation control means for calculating an offset value of the steering angle for performing the oscillation control by the rudder, and calculating a command steering angle value obtained by adjusting the command steering angle value based on the offset value;
One or a plurality of signal conversion means for converting a signal between the oscillation control means and an external device,
A shaking control process characterized by adjusting a command steering angle value based on a command steering angle signal output from a steering device for performing steering control, and outputting the adjusted command steering angle signal to a steering control system device apparatus. The shaking control means includes
An operation amount calculation unit that calculates a moment necessary for performing the swing control as an operation amount based on at least data on the roll angle;
An offset value calculation unit for calculating an offset value of the rudder angle based on the calculated operation amount and data on the water flow received by the rudder,
The shake control processing device according to claim 5, further comprising an adding unit that adds the offset value and the command steering angle value.   The operation amount calculation unit calculates an operation amount having a frequency characteristic that affects only the shaking in consideration of a frequency characteristic based on a ship shake and a frequency characteristic based on a turning motion. Item 7. The fluctuation control processing device according to item 6.   The shake control processing device according to claim 6 or 7, further comprising a steering angle limiting unit that determines whether or not the adding unit performs a process of adding an offset value to the command steering angle value.   The shake control processing device according to any one of claims 3 to 8, wherein a command steering angle signal of any one of manual steering, an autopilot function, and an automatic boat maneuvering function is transmitted from the steering device. The fluctuation control processing device according to any one of claims 3 to 9,
Selection to transmit either one of the command steering angle signal transmitted from the steering device for performing the steering control or the command steering angle signal adjusted by the shaking control processing device to the steering control system device And a swing control system. A step of calculating, as an operation amount, a moment necessary to perform the swing control based on at least data on the roll angle;
Calculating an offset value of the rudder angle based on the operation amount and data on the water flow received by the rudder;
And a step of causing the computer to perform a step of calculating a new command rudder angle value by adding the offset value to the command rudder angle value instructed by the steering device to the rudder control system device. program.

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