JP2022066156A - Ship control system, and ship - Google Patents

Abstract

To provide a ship control system for controlling a ship so that a hull moves in a maneuvering direction designated by a steering device in the same way as in normal time even if an abnormality occurs in a part of a plurality of propulsion devices.SOLUTION: A ship control system according to an aspect of the present disclosure includes a processing unit that executes partial output limitation steering control for: when an output of a part of a plurality of propulsion devices equipped on a ship is limited, acquiring output limitation information including which is the propulsion device whose output is limited and an upper limit output of the propulsion device whose output is limited, and command information including a hull maneuvering direction designated by a steering device; and on the basis of the acquired output limitation information and command information, determining the magnitude and generation direction of an output of the propulsion device whose output is not limited, and determining the magnitude and generation direction of an output of the propulsion device whose output is limited, so that the hull is moved in the maneuvering direction designated by the steering device.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to ship control systems and ships.

Some ships are provided with a plurality of propulsion devices (see, for example, Patent Document 1). For ships equipped with multiple propulsion devices, when the hull maneuvering direction is specified using a steering device (steering lever, etc.), the output magnitude and output generation direction of each propulsion device are such that the hull moves in the specified hull maneuvering direction. Is automatically determined.

Japanese Unexamined Patent Publication No. 2019-131178

In the above ships, each propulsion device is designed on the assumption that it is normal, so if an abnormality occurs in some propulsion devices, it may not be possible to move the hull in the specified maneuvering direction. be. Based on this, in the present disclosure, even if an abnormality occurs in some of the propulsion devices among the plurality of propulsion devices, the hull moves in the maneuvering direction specified by the steering device as in normal times. It is an object of the present invention to provide a ship control system to control.

In the ship control system according to one aspect of the present disclosure, when the output of some of the propulsion devices provided in the ship is limited, which propulsion device has the limited output and the output is limited. The output limit information including the upper limit output of the propulsion device and the command information including the hull maneuvering direction specified by the steering device are acquired, and the steering device is based on the acquired output limit information and the command information. The output magnitude and output generation direction of the propulsion device whose output is not restricted are determined so that the hull moves in the specified maneuvering direction, and the output magnitude and output generation of the propulsion device whose output is restricted. It is equipped with a processing device that executes partial output limit steering control that determines the direction.

In the ship control system according to another aspect of the present disclosure, when it becomes impossible to set the output generation direction of some of the propulsion devices provided in the ship, the output generation direction cannot be set. Direction unsettable information including which propulsion device has become and the output generation direction of the propulsion device for which the output generation direction cannot be set, and command information including the hull maneuvering direction specified by the steering device. The magnitude of the output of the propulsion device that can set the output generation direction so that the hull moves in the ship maneuvering direction specified by the steering device based on the acquired direction unsettable information and the command information. It is equipped with a processing device that determines the direction in which the output is generated and also determines the magnitude of the output of the propulsion device for which the direction in which the output is generated cannot be set.

According to the above configuration, even if an abnormality occurs in some of the propulsion devices among the plurality of propulsion devices, the ship is controlled so that the hull moves in the maneuvering direction specified by the steering device as in normal times. Can provide a ship control system.

FIG. 1 is a plan view of a ship. FIG. 2 is a block diagram of a ship and a ship control system. FIG. 3 is a table showing an example of normal steering control and partial output limited steering control. FIG. 4 is a table showing an example of normal steering control and steering control in which some directions cannot be set.

<Ship>
First, the ship 100 according to the present embodiment will be described. FIG. 1 is a plan view of the ship 100. The upper, lower, right, and left sides of the paper in FIG. 1 correspond to the front, rear, right, and left sides of the hull 101, respectively. The front part of the hull 101 is the bow, and the rear part of the hull 101 is the stern. Further, FIG. 2 is a block diagram of the ship 100 and the ship control system 200. As shown in FIGS. 1 and 2, the ship 100 according to the present embodiment includes a first propulsion device 10, a second propulsion device 20, and a steering device 30.

The first propulsion device 10 is arranged on the right rear portion of the hull 101. The first propulsion device 10 of the present embodiment is a so-called swivel azimuth thruster. The thrust generating unit 11 has a propeller 12, and the thrust generating unit 11 swivels in the horizontal direction about the swivel shaft 13. As a result, the first propulsion device 10 can generate an output (thrust) of an arbitrary magnitude in an arbitrary direction. The first propulsion device 10 may be composed of a line shaft propeller and a rudder instead of the swivel azimuth thruster.

The second propulsion device 20 is installed on the left rear portion of the hull 101. The second propulsion device 20 has the same configuration as the first propulsion device 10 except for the installation position. The second propulsion device 20 of this embodiment is a so-called swivel azimuth thruster. The thrust generating unit 21 has a propeller 22, and the thrust generating unit 21 rotates in the horizontal direction about the turning shaft 23. As a result, the second propulsion device 20 can generate an output (thrust) of an arbitrary magnitude in an arbitrary direction. The second propulsion device 20 may be composed of a line shaft propeller and a rudder instead of the swivel azimuth thruster.

The steering device 30 is a device for designating an increase / decrease in the maneuvering direction and moving speed of the hull 101. As an example, the steering device 30 of the present embodiment has a steering lever (not shown), and the steering direction of the hull 101 can be specified by the direction in which the steering lever is tilted, and the moving speed of the hull 101 is determined by the tilting angle. You can specify an increase or decrease. In addition to "forward" and "backward", the hull 101 has a "clockwise turn" that turns the bow to the right, a "left turn" that turns the bow to the left, and a "clockwise turn" that turns clockwise on the spot. (Clockwise) "," In-situ turning (counterclockwise) "that rotates counterclockwise on the spot is included. In addition, the steering device 30 may have a thruster operation unit other than the steering lever capable of designating an increase / decrease in the maneuvering direction and the moving speed of the hull 101 instead of the steering lever.

<Ship control system>
Next, the ship control system 200 according to the present embodiment will be described. The ship control system 200 is a system that controls the ship 100. As shown in FIG. 2, the ship control system 200 includes a processing device 40, a setting device 50, a monitoring device 60, and a storage device 70.

The processing device 40 can acquire command information including an increase / decrease in the maneuvering direction and the moving speed of the hull 101 designated by the steering device 30 from the steering device 30. The processing device 40 determines the output magnitude and output generation direction of each of the propulsion devices 10 and 20 based on the command information acquired from the steering device 30. The processing device 40 of the present embodiment outputs the outputs of the propulsion devices 10 and 20 by executing "normal steering control", "partially output limited steering control", or "partially unconfigurable steering control" described later. Determine the size and direction of output.

Further, the processing device 40 determines the output size and output generation direction of each of the propulsion devices 10 and 20, and then outputs a control signal according to the determined output size and output generation direction of each propulsion device 10 and 20. Send to 20. As a result, the rotation speed, blade angle, and turning angle of the propulsion devices 10 and 20 are set so that the propulsion devices 10 and 20 generate outputs in the size and direction determined by the processing device 40. .. Further, the processing device 40 can acquire the actual rotation speed, blade angle, and turning angle (actual turning angle) of the propulsion devices 10 and 20 from the propulsion devices 10 and 20.

The processing device 40 may be located on the ship 100, may be located on land, or may be located on a ship (support ship or the like) different from the ship 100. For example, the processing device 40 may be a land-based server and may be configured so that information can be exchanged with the equipment on the ship 100 using an internet line. In this case, the processing device 40 determines the output magnitude and output generation direction of each of the propulsion devices 10 and 20, and then obtains information regarding the output magnitude and output generation direction of each of the determined propulsion devices 10 and 20. For example, it may be transmitted to a control device (not shown) located on the ship 100, and the control device may transmit a control signal to the propulsion devices 10 and 20. That is, even if the processing device 40 determines the output magnitude and output generation direction of the propulsion devices 10 and 20, and the control signal is transmitted to the propulsion devices 10 and 20 by a device other than the processing device 40. good.

The setting device 50 is a device that makes various settings. The setting device 50 of the present embodiment can select whether or not the processing device 40 executes "partially output limited steering control", and whether or not the processing device 40 executes "partially unsettable steering control". Can be selected. The setting device 50 may be located on the ship 100 and operated by a passenger. Further, the setting device 50 may be located on land or on a ship different from the ship 100, and may be operated by a person other than the passenger of the ship 100. Further, the setting device 50 may be located at a plurality of locations. For example, the setting device 50 may be located on the ship 100 and may be located on land or on a ship other than the ship 100 (that is, a position other than on the ship 100). In this case, the setting device 50 can be operated by either the passenger of the ship 100 or a person other than the passenger of the ship 100. When the processing device 40 and the setting device 50 are located at different positions from each other, the setting device 50 may transmit information to the processing device 40 via the Internet line.

The monitoring device 60 is a device that monitors the control status of the processing device 40. The monitoring device 60 can acquire various information from the processing device 40 and display it on the display. In the present embodiment, it is possible to display whether or not the processing device 40 is executing the "partially output limited steering control", and whether the processing device 40 is executing the "partially unsettable steering control". It is possible to display whether or not. Further, the monitoring device 60 of the present embodiment may be located on the ship 100, may be located on land, or may be located on a ship different from the above-mentioned ship 100. When the processing device 40 and the monitoring device 60 are located at different positions from each other, the monitoring device 60 may acquire information from the processing device 40 via the Internet line. Further, when the monitoring device 60 and the setting device 50 are located at the same position, the monitoring device 60 may be integrally formed with the setting device 50.

The storage device 70 is a device that stores various information. The storage device 70 stores operation data of the ship 100, control data executed by the processing device 40, output restriction information, direction setting impossible information, and the like, which will be described later. The storage device 70 acquires information via the processing device 40 and transmits the stored information to the processing device 40. The storage device 70 may be located on the ship 100, may be located on land, or may be located on a ship different from the ship 100. When the processing device 40 and the storage device 70 are located at different positions from each other, the storage device 70 may exchange information with the processing device 40 via the Internet line.

<Normal steering control>
Next, the normal steering control, the partial output limited steering control, and the partial direction unsettable steering control executed by the processing device 40 will be described. First, normal steering control will be described. Normal steering control is control performed when there is no abnormality in the propulsion devices 10 and 20. When the normal steering control is started, the processing device 40 acquires command information from the steering device 30. As described above, the command information includes an increase / decrease in the maneuvering direction and the moving speed of the hull 101 designated by the steering device 30.

Subsequently, the processing device 40 generates the output magnitude and output of each of the propulsion devices 10 and 20 so that the hull 101 moves in the designated ship maneuvering direction at the designated moving speed based on the acquired command information. Determine the direction. After that, the processing device 40 transmits a control signal according to the determined output magnitude and output generation direction to the propulsion devices 10 and 20. Thereby, the rotation speed, the blade angle, and the turning angle of each of the propulsion devices 10 and 20 are set.

FIG. 3 is a diagram showing an example of normal steering control and partial output limited steering control. In the column of normal steering control in FIG. 3, the magnitude of the output and the direction of generation of the outputs of the propulsion devices 10 and 20 corresponding to the respective ship maneuvering directions when the normal steering control is executed are shown. In FIG. 3, the size of the output is represented by the size of the figure showing the propulsion devices 10 and 20 respectively. Further, the output generation direction is represented by the inclination of the figure showing the propulsion devices 10 and 20. Further, in the example shown in FIG. 3, it is assumed that the propulsion devices 10 and 20 are maintained at 100% of the output in the steady state at the time of normal steering control. However, the outputs of the propulsion devices 10 and 20 may be varied.

As shown in FIG. 3, in the normal steering control in the present embodiment, when the commanded ship maneuvering direction is "forward", the processing device 40 determines the output generation direction of each of the propulsion devices 10 and 20 to the rear. do. As a result, the hull 101 moves forward. Further, when the commanded ship maneuvering direction is "reverse", the processing device 40 determines the output generation direction of each of the propulsion devices 10 and 20 forward. As a result, the hull 101 moves backward.

When the designated ship maneuvering direction is "turning to the left", the processing device 40 determines the output generation direction of the propulsion devices 10 and 20 diagonally to the left and rear. Since the propulsion devices 10 and 20 are arranged in the rear portion of the hull 101, if the propulsion devices 10 and 20 generate an output diagonally to the left and rear, the hull 101 will rotate slightly counterclockwise with respect to the center of gravity 102. Move forward while rotating. Further, when the designated ship maneuvering direction is "turning to the right", the processing device 40 determines the output generation direction of the propulsion devices 10 and 20 diagonally to the right and rearward. As a result, the hull 101 moves forward while rotating slightly clockwise around the center of gravity 102.

When the designated ship maneuvering direction is "in-situ turning (counterclockwise)", the processing device 40 determines the output generation direction of each of the propulsion devices 10 and 20 to the left. Since the propulsion devices 10 and 20 are arranged in the rear part of the hull 101, if the propulsion devices 10 and 20 generate an output to the left, the hull 101 turns in place (counterclockwise) around the center of gravity 102. )do. Further, when the designated ship maneuvering direction is "in-situ turning (clockwise)", the processing device 40 determines the output generation direction of each of the propulsion devices 10 and 20 to the right. As a result, the hull 101 turns (clockwise) on the spot around the center of gravity 102.

<Partial output limit steering control>
Next, the partial output limited steering control will be described. The partial output limiting steering control is performed when the output of either one of the first propulsion device 10 and the second propulsion device 20 is limited. For example, when a sign of failure is detected in the first propulsion device 10, the output of the first propulsion device 10 is limited, and the upper limit output of the first propulsion device 10 is determined. For example, if the gear, bearing, or propeller 12 of the first propulsion device 10 is damaged, or if the hydraulic device for changing the blade angle of the propeller 12 fails, the output of the first propulsion device 10 is limited. ..

When the partial output limit steering control is started, the processing device 40 acquires the command information and the output limit information. As described above, the command information includes an increase / decrease in the maneuvering direction and the moving speed of the hull 101 designated by the steering device 30. On the other hand, the output limiting information includes which propulsion device has limited output and the upper limit output of the propulsion device having limited output. For example, when the output of the first propulsion device 10 is limited to 80% of the steady output, the processing device 40 determines that the propulsion device whose output is limited is the first propulsion device 10 and the upper limit of the first propulsion device 10. Acquires output limit information including that the output is 80% of the steady output.

Subsequently, the processing device 40 increases the output of the propulsion devices 10 and 20 so that the hull 101 moves in the ship maneuvering direction specified by the steering device 30 at the movement speed specified by the steering device 30 based on the acquired command information and output limit information. Determines the direction in which the output is generated. After that, the processing device 40 transmits a control signal according to the determined output magnitude and output generation direction to the propulsion devices 10 and 20. Thereby, the rotation speed, the blade angle, and the turning angle of each of the propulsion devices 10 and 20 are set.

In the column of partial output limited steering control in FIG. 3, an example of the output magnitude and output generation direction of each propulsion device 10 and 20 corresponding to each ship maneuvering direction when the partial output limited steering control is executed. Is shown. In the example shown in FIG. 3, it is assumed that the output of the first propulsion device 10 is limited. Further, in the partial output limited steering control, the first propulsion device 10 is maintained at the upper limit output (80% of the steady output in the above example), and the second propulsion device 20 is an output of 100% of the steady output. It shall be maintained at. However, the outputs of the propulsion devices 10 and 20 may be varied.

As shown in FIG. 3, in the present embodiment, in the partial output limit steering control, when the commanded ship maneuvering direction is "forward", the processing device 40 causes the output generation directions of the propulsion devices 10 and 20 to move backward. Instead of deciding, decide diagonally to the left and backward. Since the output of the first propulsion device 10 is smaller than that of the second propulsion device 20, the hull 101 moves forward by determining as described above. Further, when the commanded ship maneuvering direction is "reverse", the processing device 40 determines the output generation direction of each of the propulsion devices 10 and 20 not to be determined forward but to be diagonally forward to the right. As a result, the hull 101 moves backward.

When the designated ship maneuvering direction is "left turn", the processing device 40 determines the output generation direction of the propulsion devices 10 and 20 diagonally to the left and rear. However, it is determined that the relative angle with the reference axis extending to the left of the normal steering control, that is, extending in the front-rear direction, is larger than that during the normal steering control. Further, when the designated ship maneuvering direction is "turning to the right", the processing device 40 determines the output generation direction of the propulsion devices 10 and 20 to be diagonally rearward to the right and to the right of the normal steering control.

When the designated ship maneuvering direction is "in-situ turning (counterclockwise)", the processing device 40 determines the output generation direction of each of the propulsion devices 10 and 20 to the left as in the case of normal steering control. Further, when the designated ship maneuvering direction is "in-situ turning (clockwise)", the processing device 40 determines the output generation direction of each of the propulsion devices 10 and 20 to the right as in the case of normal steering control. ..

In the present embodiment, by executing the partial output limited steering control as described above, even if the output of some propulsion devices is limited, the hull 101 is propelled in the ship maneuvering direction specified by the steering device 30. be able to. Further, in the partial output limiting steering control of the present embodiment, since the propulsion device whose output is limited is not stopped, it is possible to suppress a decrease in the output of the propulsion devices 10 and 20 as a whole.

<Steering control that cannot be set in some directions>
Next, steering control that cannot be set in some directions will be described. Partial direction unsettable Steering control is performed when it becomes impossible to set the output generation direction (setting of the turning angle in this embodiment) of either one of the first propulsion device 10 and the second propulsion device 20. Will be executed. For example, if an abnormality occurs in the device that turns the thrust generating unit 11 in the first propulsion device 10, it may not be possible to set the output generation direction of the first propulsion device 10, and the output generation direction may be set. If it becomes impossible, some direction setting impossible steering control is performed. If the processing device 40 does not change the actual turning angle acquired from the first propulsion device 10 even though the control signal for changing the turning angle is transmitted to the first propulsion device 10, the first propulsion device 10 It can be determined that it is impossible to set the output direction of.

When the steering control in which the partial direction cannot be set is started, the processing device 40 acquires the command information and the information in which the direction cannot be set. As described above, the command information includes an increase / decrease in the maneuvering direction and the moving speed of the hull 101 designated by the steering device 30. On the other hand, the direction unsettable information is information including which propulsion device cannot set the output generation direction and the output generation direction of the propulsion device whose output generation direction cannot be set. .. For example, if the output generation direction of the first propulsion device 10 cannot be set when the output generation direction of the first propulsion device 10 is forward, the processing device 40 cannot set the output generation direction. Acquires direction unsettable information including that the propulsion device is the first propulsion device 10 and that the output direction of the first propulsion device 10 is forward.

Subsequently, the processing device 40 outputs the outputs of the propulsion devices 10 and 20 so that the hull 101 moves in the ship maneuvering direction specified by the steering device 30 at the movement speed specified by the steering device 30 based on the acquired command information and the direction unsettable information. Determine the size and direction of output generation. After that, the processing device 40 transmits a control signal according to the determined output magnitude and output generation direction to the propulsion devices 10 and 20. Thereby, the rotation speed, the blade angle, and the turning angle of each of the propulsion devices 10 and 20 are set.

FIG. 4 is a diagram showing an example of normal steering control and steering control in which some directions cannot be set. The column for normal steering control in FIG. 4 is the same as the column for normal steering control in FIG. On the other hand, in the column of the steering control in which the partial direction cannot be set in FIG. 4, the output magnitude and the output of the propulsion devices 10 and 20 corresponding to each maneuvering direction when the steering control in which the partial direction cannot be set is executed. It shows the direction of occurrence. The display method of the output magnitude and the output generation direction in FIG. 4 is the same as that of FIG. In the example shown in FIG. 4, when the output generation direction of the first propulsion device 10 is rearward, it is assumed that the output generation direction of the first propulsion device 10 cannot be set. Further, in the steering control in which the direction cannot be set in some directions, the first propulsion device 10 generates a maximum output of 100% of the steady output during operation, and the second propulsion device 20 is also maintained at a maximum output of 100% of the steady output. It shall be.

As shown in FIG. 4, in the steering control in which the direction cannot be set in some directions in the present embodiment, when the commanded ship maneuvering direction is "forward", the processing device 40 operates the first propulsion device 10 and the second propulsion. The output direction of the device 20 is determined to be backward. When the commanded ship maneuvering direction is "reverse", the processing device 40 stops the first propulsion device 10 and determines the output generation direction of the second propulsion device 20 diagonally forward to the right. Since the first propulsion device 10 is stopped, if the second propulsion device 20 arranged on the left side of the hull 101 generates an output diagonally forward to the right, the hull 101 can be moved backward.

When the designated ship maneuvering direction is "left turn", the processing device 40 operates the first propulsion device 10 and determines the output generation direction of the second propulsion device 20 to the left. Since the output of the first propulsion device 10 is generated in the rear direction, the hull 101 turns counterclockwise if determined in this way. When the designated ship maneuvering direction is "turning to the right", the processing device 40 stops the first propulsion device 10 and determines the output direction of the second propulsion device 20 to the rear. Since the first propulsion device 10 does not generate an output, the hull 101 turns to the right if it is determined in this way.

When the designated ship maneuvering direction is "in-situ turning (counterclockwise)", the processing device 40 operates the first propulsion device 10 and determines the output generation direction of the second propulsion device 20 forward. Since the output of the first propulsion device 10 is generated in the rear direction, the hull 101 turns counterclockwise (counterclockwise) if it is determined in this way. When the designated ship maneuvering direction is "in-situ turning (clockwise)", the processing device 40 stops the first propulsion device 10 and determines the output generation direction of the second propulsion device 20 to the right. .. Since the first propulsion device 10 does not generate an output, the hull 101 turns (clockwise) on the spot if it is determined in this way.

As described above, in the present embodiment, even if it becomes impossible to set the output generation direction of some propulsion devices by executing the steering control in which some directions cannot be set, the ship maneuvering direction specified by the steering device 30 The hull 101 can be propelled. Further, in the steering control in which the partial direction cannot be set in the present embodiment, the output in the propulsion devices 10 and 20 is operated in order to operate the propulsion device in which the output generation direction cannot be set when a predetermined condition is satisfied. Can be suppressed.

The functions of the elements disclosed herein include general-purpose processors, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or general-purpose processors configured or programmed to perform the disclosed functions. , A combination of them, can be performed using a circuit or processing circuit that includes. A processor is considered a processing circuit or circuit because it contains transistors and other circuits. In the present disclosure, a circuit, unit, or means is hardware that performs the listed functions or is programmed to perform the listed functions. The hardware may be the hardware disclosed herein, or it may be other known hardware that is programmed or configured to perform the listed functions. If the hardware is a processor considered to be a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

<Modification example>
The above-mentioned ship 100 is provided with two propulsion devices 10 and 20, but may be provided with three or more propulsion devices. However, when the ship 100 has two propulsion devices, there is a high possibility that the output of the propulsion devices 10 and 20 as a whole will be greatly reduced if an abnormality occurs in one of the propulsion devices. Therefore, when there are two propulsion devices, partial output limit steering control that does not stop the propulsion device and partial direction unsettable steering that operates the propulsion device whose output generation direction cannot be set depending on the conditions. Control is very effective.

In the above, the method of determining the output magnitude and output generation direction of the propulsion devices 10 and 20 in the partial output limited steering control and the partial direction unsettable steering control has been described, but these determinations are made by feedback control. You may go. For example, as a result of determining the output magnitude and output generation direction of each of the propulsion devices 10 and 20, the hull maneuvering direction and moving speed specified by the steering device 30 are the same as the actual hull maneuvering direction and moving speed. If they are different, the output magnitude and output generation direction of each of the propulsion devices 10 and 20 may be determined again so that the difference between them becomes small.

<Summary>
In the ship control system according to one aspect of the present disclosure, when the output of some of the propulsion devices provided in the ship is limited, which propulsion device has the limited output and the output is limited. The output limit information including the upper limit output of the propulsion device and the command information including the hull maneuvering direction specified by the steering device are acquired, and the steering device is based on the acquired output limit information and the command information. The output magnitude and output generation direction of the propulsion device whose output is not restricted are determined so that the hull moves in the specified maneuvering direction, and the output magnitude and output generation of the propulsion device whose output is restricted. It is equipped with a processing device that executes partial output limit steering control that determines the direction.

According to this configuration, even if the output of some propulsion devices is limited, it is based on the output limit information including which propulsion device is restricted and the upper limit output of the propulsion device whose output is limited. By determining the output magnitude and output generation direction of each propulsion device, the hull can be moved in the ship maneuvering direction specified by the steering device. Therefore, according to this configuration, even if an abnormality occurs in some of the propulsion devices, the hull can be moved in the designated maneuvering direction as in the normal case.

In the above-mentioned ship control system, when the processing device executes the partial output limited steering control, the output magnitude of the propulsion device whose output is limited is determined within a range that does not stop the propulsion device whose output is limited. You may decide.

According to this configuration, it is possible to suppress a decrease in output in the entire plurality of propulsion devices as compared with the case where the propulsion device whose output is limited is stopped.

The ship control system may further include a setting device capable of selecting whether or not the processing device executes the partial output limiting steering control.

According to this configuration, it is possible to select whether or not to execute the partial output limited steering control, so that the degree of freedom of steering by the driver is improved.

In the above-mentioned ship control system, the setting device may be located on the ship and may be located at a position other than the ship.

According to this configuration, it is possible to select whether or not to execute the partial output limit steering control from a plurality of locations, so that the convenience is improved.

The ship control system may further include a monitoring device that indicates whether or not the processing device is performing the partial output limiting steering control.

According to this configuration, it is possible to grasp the control status of the ship.

The ship according to one aspect of the present disclosure is provided with the plurality of propulsion devices and is controlled by the above-mentioned ship control system.

According to this configuration, even if an abnormality occurs in some of the propulsion devices, the hull can be moved in the designated maneuvering direction as in the normal case.

In the above-mentioned ship, the plurality of propulsion devices may be composed of two propulsion devices, a propulsion device installed on the right side portion of the hull and a propulsion device installed on the left side portion of the hull.

When the above-mentioned plurality of propulsion devices are composed of two propulsion devices, if the output of one propulsion device is limited, the output of the entire plurality of propulsion devices is greatly reduced, so the propulsion device is stopped. Partial output limitation steering control that does not allow is very effective.

In the ship control system according to another aspect of the present disclosure, when it becomes impossible to set the output generation direction of some of the propulsion devices provided in the ship, the output generation direction cannot be set. Direction unsettable information including which propulsion device has become and the output generation direction of the propulsion device for which the output generation direction cannot be set, and command information including the hull maneuvering direction specified by the steering device. The magnitude of the output of the propulsion device that can set the output generation direction so that the hull moves in the ship maneuvering direction specified by the steering device based on the acquired direction unsettable information and the command information. It is equipped with a processing device that determines the direction in which the output is generated and also determines the magnitude of the output of the propulsion device for which the direction in which the output is generated cannot be set.

According to this configuration, even if it becomes impossible to set the output generation direction of some propulsion devices, which propulsion device cannot set the output generation direction and the output generation direction. To move the hull in the maneuvering direction specified by the steering device by determining the magnitude of the output of each propulsion device based on the direction unsettable information including the direction in which the output of the propulsion device that cannot be set is generated. Can be done. Therefore, according to this configuration, even if an abnormality occurs in some of the propulsion devices, the hull can be moved in the designated maneuvering direction.

In the above ship control system, the processing device does not stop the propulsion device whose output generation direction cannot be set when a predetermined condition is satisfied in executing the partial direction unsettable steering control. The magnitude of the output of the propulsion device whose output generation direction cannot be set within the range may be determined.

According to this configuration, it is possible to suppress a decrease in output in the entire plurality of propulsion devices as compared with the case where the propulsion device in which the output generation direction cannot be set is always stopped.

The ship control system may further include a setting device capable of selecting whether or not the processing device performs the partial directional non-settable steering control.

According to this configuration, it is possible to select whether or not to execute the steering control in which the partial direction cannot be set, so that the degree of freedom of steering by the driver is improved.

In the above-mentioned ship control system, the setting device may be located on the ship and may be located at a position other than the ship.

According to this configuration, it is possible to select whether or not to execute steering control in which some directions cannot be set from a plurality of locations, which improves convenience.

The ship control system may further include a monitoring device that indicates whether or not the processing device is performing the partial directional non-settable steering control.

According to this configuration, it is possible to grasp the control status of the ship.

The ship according to one aspect of the present disclosure is provided with the plurality of propulsion devices and is controlled by the above-mentioned ship control system.

According to this configuration, even if an abnormality occurs in some of the propulsion devices, the hull can be moved in the designated maneuvering direction.

In the above-mentioned ship, the plurality of propulsion devices may be composed of two propulsion devices, a propulsion device installed on the right side portion of the hull and a propulsion device installed on the left side portion of the hull.

When the plurality of propulsion devices described above are composed of two propulsion devices, if the output direction of one propulsion device cannot be set, the output of the entire marine propulsion system will be significantly reduced. It is very effective to control the steering in which the direction in which the output is generated cannot be set in some directions to operate the propulsion device.

10 1st propulsion device 20 2nd propulsion device 30 Steering device 40 Processing device 50 Setting device 60 Monitoring device 70 Storage device 100 Ship 101 Hull 200 Ship control system

Claims (14)

When the output of some of the propulsion devices of a ship is limited, the output limit information including which propulsion device the output is limited and the upper limit output of the propulsion device whose output is limited And the command information including the hull maneuvering direction specified by the steering device, and output so that the hull moves in the hull maneuvering direction specified by the steering device based on the acquired output limit information and the command information. Executes partial output limited steering control that determines the output magnitude and output generation direction of the propulsion device that is not restricted, and determines the output magnitude and output generation direction of the propulsion device whose output is restricted. A ship control system equipped with a processing device. The processing device determines the magnitude of the output of the propulsion device whose output is limited within a range in which the propulsion device whose output is limited is not stopped when the partial output limited steering control is executed. The ship control system described. The ship control system according to claim 1 or 2, further comprising a setting device capable of selecting whether or not the processing device executes the partial output limit steering control. The ship control system according to claim 3, wherein the setting device is located on the ship and at a position other than the ship. The ship control system according to any one of claims 1 to 4, further comprising a monitoring device for displaying whether or not the processing device is executing the partial output limit steering control. Equipped with the above-mentioned multiple propulsion devices
A ship controlled by the ship control system according to any one of claims 1 to 5. The ship according to claim 6, wherein the plurality of propulsion devices are composed of two propulsion devices, a propulsion device installed on the right side portion of the hull and a propulsion device installed on the left side portion of the hull. When it becomes impossible to set the output generation direction of some of the propulsion devices of a ship, which propulsion device cannot set the output generation direction and the output generation The direction unsettable information including the output generation direction of the propulsion device whose direction cannot be set and the command information including the hull maneuvering direction specified by the steering device are acquired, and the acquired direction unsettable information and the said Based on the command information, the output magnitude and output generation direction of the propulsion device that can set the output generation direction are determined so that the hull moves in the ship maneuvering direction specified by the steering device, and the output generation direction. A ship control system equipped with a processing device that performs partial direction unsettable steering control that determines the magnitude of the output of a propulsion device that has become unconfigurable. When the processing device executes the partial direction unsettable steering control, the output generation direction cannot be set when a predetermined condition is satisfied. The output generation direction is within a range that does not stop the propulsion device. The ship control system according to claim 8, wherein the magnitude of the output of the propulsion device that cannot be set is determined. The ship control system according to claim 8 or 9, further comprising a setting device capable of selecting whether or not the processing device performs the partial direction unsettable steering control. The ship control system according to claim 3, wherein the setting device is located on the ship and at a position other than the ship. The ship control system according to any one of claims 8 to 11, further comprising a monitoring device for displaying whether or not the processing device is performing the partial direction unsettable steering control. Equipped with the above-mentioned multiple propulsion devices
A ship controlled by the ship control system according to any one of claims 8 to 12. The ship according to claim 13, wherein the plurality of propulsion devices are composed of two propulsion devices, a propulsion device installed on the right side portion of the hull and a propulsion device installed on the left side portion of the hull.

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