JP6532507B2 - Steering control device for single shaft and two steering vessels - Google Patents

Description

  The present invention relates to a steering control apparatus for a single-shaft two-rudder ship, and relates to a technique for instructing a steering angle by joystick operation.

  DESCRIPTION OF RELATED ART Conventionally, there exist some which are described, for example in patent document 1 as a steering apparatus of a ship. This is a dual-rudder system in which a pair of rudders are provided at symmetrical positions with respect to the propeller propeller axis behind one propulsion propeller, or one rudder is provided behind each of two propulsion propellers. It is a steering control device of the vessel which has a two-piece steering system.

  The steering control system comprises a steering command system comprising an autopilot and a joystick panel, the autopilot comprises a course setting device and a gyro compass, and the joystick panel comprises a tail in board setting device, a joystick lever and a rudder. The control system includes an automatic calculation device, a tail-in-board steering amount adjuster, a joystick unit, a steering angle setter, and an emergency stop control unit.

  Then, when traveling in the automatic steering mode, the two rudders that are tail-in-board can be steered with different steering patterns by the tail-in-board corresponding steering amount adjuster, in the hitter for setting course return. I am trying to steer. Furthermore, when traveling in and out of a port or in a narrow channel in the operation mode, the automatic operation device, the joystick unit and the emergency stop control unit allow multiple maneuvering patterns and emergency stops of the ship by combining the steering angles of the two rudders. It is something that is made possible.

  Patent Document 2 discloses a rudder angle indicator for a single-shaft two-steer ship. This is a steering angle indicator of a single-shaft two-steering ship equipped with a pair of left and right rudder and a pair of rotary vane steering gear for driving each rudder, and the rudder angle of each rudder within a single display board And a pair of left and right hands pointing respectively, and a steering limit steering angle of the outer rim side of the rotary vane steering gear displayed on the outer rim side on the outer rim side of the rotary vane steering wheel. It has a pair of left and right steering angle scale that displays the steering limit steering angle on the inner side.

Patent No. 5213729 JP, 2016-41525,

  In Patent Document 1 described above, the display device displays, in a vector, an instruction turning direction indicated by the joystick lever and an instruction value indicating the magnitude of the instruction thrust. The indicated value by the joystick lever is displayed as an indicated vector value whose origin is the in-situ (Hover) position of the hull, and the execution value indicating the magnitude of the actual turning direction and the effective thrust is in-situ (Hover) of the hull It is displayed as an execution vector value whose origin is the position.

  In maneuvering with this joystick lever, maneuvering at rest is required for the most certainty. Manipulation in the other direction of movement is acceptable even in the presence of certain errors. However, in the case of in-situ maneuvering, if the ship moves, it will not be in situ. For this reason, it is necessary to operate the joystick lever accurately.

  However, since there was no way to know whether the joystick lever was correctly held at the stationary position or not, it largely depends on the skill of the boat operator, and the one unfamiliar with boat navigation with the joystick lever, such as a leisure boat There was a difficulty in the accurate maneuvering of the in-situ stationary by the ship operators.

  The present invention solves the above-mentioned problems, and it is an object of the present invention to provide a steering control device for a single-shaft two-steer ship, which enables even an inexperienced person to maneuver the vessel to stop on the spot quickly and accurately. .

  In order to solve the problems described above, the steering control device for a single-shaft twin-rudder ship according to the present invention includes a propulsion propeller disposed at the stern, a pair of high-lift rudder disposed at the rear of the propulsion propeller, and In a single-shaft twin-steer vessel comprising a steering control device for controlling the direction of ship motion by combining a pair of rotary vane steering gears for driving the power rudder and a steering angle of two high lift rudders, the steering control device A joystick maneuvering unit for giving an instructed steering angle to each rotary vane steering gear, and a steering angle matching notification means for notifying a boat operator that the instructed steering angle instructed by the operation of the joystick lever in the joystick maneuvering unit matches the hovering instructed steering angle. It is characterized by having.

  In the steering control device for a single-shaft twin-rudder ship according to the present invention, the steering control device includes hovering notification means for notifying the operator of the fact that the actual steering angle of each rudder has reached the hovering steering angle that causes the ship to stand still. It is characterized by

  In the steering control device for a single-shaft two-steer ship of the present invention, the steering control device has a steering angle transition display device, and steers the steering angle and steering angle coincidence notification means when the steering angle approaches the hovering steering angle. It is characterized in that it is displayed as image information on the corner transition display device.

  In the steering control device for a single-shaft two-steer ship of the present invention, the steering control device displays the actual steering angle and the hovering notification means as the image information on the steering angle transition display device when the actual steering angle of each rudder approaches the hovering steering angle. It is characterized by doing.

  According to the above configuration, the boat operator can make the instructed steering angle instructed by himself / herself coincide exactly with the hovering instructed steering angle by receiving notification of the steering angle coincidence notifying means in the operation of the joystick lever. Therefore, even an unfamiliar person in ship maneuvering can maneuver on the spot at a rapid speed and accurately. In addition, the operator is aware that the actual steering angle of each rudder has not reached the hovering steering angle until notified by the hovering notification means, and the actual steering angle of each rudder is notified by the hovering notification means. Can accurately know the facts and times that have been reached, and improve the safety of unskilled operators.

The schematic diagram which shows the boat maneuvering stand of the steering control apparatus of the 1 axis two steering vessel in embodiment of this invention Schematic diagram showing a hydraulic system and a steering control device in the embodiment The top view which shows the steering angle instruction | indication apparatus in the embodiment A plan view showing a propeller and a high lift rudder in the same embodiment Front view showing the joystick in the same embodiment FIG. 17 is a perspective view showing a configuration of a stern portion of a thrust system 100 showing a propulsion unit and a high lift steering wheel in the same embodiment. A schematic diagram showing the combined steering angle and turning direction of the rudder The schematic diagram which shows the monitor screen of the steering angle transition display apparatus in other embodiment of this invention The schematic diagram which shows the monitor screen of the steering angle transition display apparatus in other embodiment of this invention

Hereinafter, embodiments of the present invention will be described based on the drawings. The steering control device for a single-shaft two-rudder ship according to the present invention is applicable regardless of the size of the ship, but is particularly useful when small vessels such as a leisure boat maneuver inexperienced in ship maneuvering .
Embodiment 1
As shown in FIGS. 1 to 7, the two-steering steering system in the present embodiment includes a thrust system 100 and a marine vessel maneuvering system (steering control device) 200 that controls the thrust system 100.

  The thrust system 100 includes a propeller pusher 101 formed of a single-axis single-shaft propeller disposed at the stern of a hull 110 and two high lift rudder 102 and 103 disposed behind the propeller.

  Each high lift rudder 102, 103 is configured to be steerable 105 ° to the outboard (outer side) and 35 ° to the inboard (inner side). Then, while maintaining the propeller forward rotation of one propeller and one shaft (propeller), the one-to-two high lift rudder 102 and 103 are operated independently at various angles, and the high lift rudder 102 of both rods is operated. , 103 by changing the combination of the steering angles, it is possible to distribute the propeller wake in the desired direction desired, and freely change the thrust in each direction. Therefore, the combined thrust of the thrust in each direction can be freely changed, and by controlling the propeller wake to control the thrust around the stern over 360 ° all directions, forward and backward movement of the ship, stop, forward turn, It is possible to maneuver the ship such as reverse turning and control the movement of the ship freely.

  Further, the thrust system 100 includes a rotary vane steering gear 104, 105 for driving the high lift rudder 102, 103, a rudder control device (servo amplifier) 106, 107 for controlling the rotary vane steering gear 104, 105, a hull A bow thruster 108 disposed on the bow side of 110 and a thruster control device 109 for controlling the bow thruster 108 are provided.

  Further, pump units 151 and 152, steering angle transmitters 153 and 154, and feedback units 155 and 156 are connected to the rotary vane steering gears 104 and 105, respectively, and the feedback units 155 and 156 are the rudder control device 106. , 107 are connected.

  The boat maneuvering system (steering control device) 200 is stored in the boat maneuvering stand 250, and an auto-piloted vessel maneuvers in a steering mode by an autopilot using a gyro compass display unit 252 that displays the gyro direction of the gyro compass 251. A non-followup steering operation in a maneuvering mode by a non-follow-up steering lever 258, a joystick maneuvering portion 255 maneuvering in the maneuvering mode by the joystick lever 254, a manual maneuvering portion 257 maneuvering in the maneuvering mode by the manual steering wheel 256 A marine vessel maneuvering unit 259, a mode switching unit 261 for switching between marine vessel maneuvering units by a mode changeover switch 260, a display device 262 having a touch panel on the screen, an image control unit 263 for controlling an image displayed on the display device 262, emergency An emergency stop unit 265 for maneuvering the ship in the operation mode in which the ship is urgently stopped by giving priority to all the operation modes by operating the ship push button 264, and a steering angle instruction for displaying the current steering angle of each high lift rudder 102, 103 A steering angle indicator 271 for controlling the device 270 is integrally provided on the stand body 300. In the present embodiment, the steering angle instruction device 270 doubles as a steering angle transition display device, and the details will be described later.

  The image control unit 263 has a gyro direction display image 267 showing a gyro direction, a direction display unit operation image 268 for touch operation of the gyro direction display unit 252 on the monitor screen, and an auto navigation unit 253 touch on the monitor screen. The auto marine vessel maneuvering operation image 269 for operation is selectively displayed or simultaneously displayed.

  The joystick operation unit 255 is configured such that the joystick lever 254 can be operated in any direction in the XY direction, controls the command movement direction of the hull in the tilting direction of the joystick lever 254, and controls the tilting angle in the tilting direction. It controls the ship's direction commanded velocity and the ship's lateral commanded velocity.

  The joystick maneuvering unit 255 controls the steering angles of the high lift rudder 102 and 103 at both sides to the steering angle set according to the tilt direction of the joystick lever 254, and the steering angles of the high lift rudder 102 and 103 at both sides Combined to turn the thrust of the propeller's wake toward the desired direction, and the steering angles of the high lift rudder 102, 103 on both sides by both the rotary vane steering gears 104, 105 to the hull side. Control in the range of 105 ° and 35 ° inward. Details will be described later.

  The auto navigation unit 253 guides and controls the ship to a preset course, which is determined in advance based on the current position information of the ship, guidance route information, and stop holding position information by a GPS compass and an electronic chart system.

  When the emergency stop unit 265 presses the emergency stop push button 264 in an emergency, the steering angle relating to the current marine vessel maneuvering is used regardless of whether or not the marine vessel maneuvering state is indicated by the joystick lever 254 or in any other maneuvering mode. Cancel and rotate the left rudder 103 in the steering direction (clockwise direction as viewed from above) and the starboard rudder 102 in the steering direction (counterclockwise direction as viewed from above) up to the hard over (full rudder) The ship is steered, and the boat is braked and stopped.

  The manual steering unit 257 maneuvers the ship by controlling the steering angles of the two high lift rudder 102 and 103 by the rotation operation of the manual steering wheel 256.

  The non-follow-up maneuvering unit 259 steers the starboard or port according to the time during which the non-follow-up steering lever 258 is operated to the left or right.

  The basic combination of steering angles of the high lift rudder 102, 103, the state of the joystick lever 254, its name, propeller trailing streamline and movement direction will be described with reference to FIG.

  In FIG. 7, the rudder is shown in a horizontal cross section, and the rudder angle of each rudder is shown on the side or below. The steering angles are indicated as positive (+) for taking on the right and negative (-) for taking on the left, and the names for combinations of these steering angles are listed. The propeller wake is drawn by a thin arrow line and the ship's propulsion direction by the thick open arrow line.

  By the way, "TURN TO PORT" (advance left turn) is port rudder-35 °, starboard rudder-25 °, and "ROTATE TO PORT" (left bow turning) is -70 舷, starboard rudder-25 ° Yes, "STERN TO PORT" (stern left turn) is -105 舷, left steering + 45 ° to + 75 °, and "ASTERN TO PORT" (right turn left) is -105 、, left steering + 75 ° From + 105 °, “AHEAD” (forward) is 0 ° for left steering and 0 ° for right steering, “HOVERING” (stop in place) is −75 ° for left steering, + 75 ° for right steering, “ASTERN” (Reverse)-left steering-105 °, right steering + 105 °, 'TURN TO STARD' (forward right turn) is left steering + 25 °, right steering + 35 °, 'ROTATE TO STA "D" (right bow turning) is left steering + 25 °, right steering + 70 °, "STERN TO STARD" (stern right turn) is left steering -45 ° to -75 °, left steering + 105 °, " "ASTERN TO STARD" (reverse right turn) is left steering -75 ° to -105 °, right steering + 105 °.

  As shown in FIG. 3, the steering angle indicating device 270 includes a pair of left and right hands 273 and 274 that respectively indicate the actual steering angles of the high lift rudder 102 and 103 within the area of a single display panel 272. It is arranged around each pointer, and displays the turning limit steering angle on the outer side of the rotary vane steering gear 104, 105 on the outer side, and the inner side of the rotary vane steering wheel 104, 105 on the inner side A pair of left and right steering angle scale 275, 276 for displaying the limit steering angle is provided.

  Furthermore, the steering angle instruction device 270 is provided with an indicator lamp 277 which doubles as steering angle coincidence notification means and hovering notification means.

  The steering angle instruction unit 271 turns on the indicator lamp 277 of the steering angle instruction device 270, for example, in orange when the instruction steering angle instructed by the operation of the joystick lever 254 in the joystick navigation unit 255 matches the hovering instruction steering angle. The operator is notified that the instructed steering angle matches the hovering instructed steering angle.

  Further, the steering angle instructing unit 271 causes the high lift rudder 102, 103 to steer toward the instructed steering angle, and the actual steering angle of each high lift steering 102, 103 makes the hovering steering angle at which the hull 110 comes to rest. When reached, the indicator lamp 277 is turned on, for example, in green to inform the operator that the actual steering angle has reached the hovering steering angle.

  In the present embodiment, the indicator lamp 277 is employed as the steering angle coincidence notification means and the hovering notification means, but the steering angle coincidence notification means and the hovering notification means are not limited to the indicator lamp 277.

  For example, as steering angle matching notification means and hovering notification means, a level indicator is attached to the steering angle graduations 275 and 276, the indicated steering angle is displayed by the level indicator, and the operator is notified by lighting similar to the indicator lamp 277. It is also possible.

  Moreover, it is also possible to employ | adopt the alarm device provided with the sound source which emits a different notification sound as a steering angle coincidence notification means and a hovering notification means.

  Furthermore, it is possible to adopt a signal transmission device for transmitting an electric signal or a wireless signal as the steering angle coincidence notification means and the hovering notification means, and to arrange a device that operates in response to the signal emitted by the signal transmission device. It is possible.

Hereinafter, the operation in the above configuration will be described.
1. Operation Mode by Joystick The mode switching switch 260 is operated to select the operation mode by the joystick. The joystick maneuvering unit 255 uses the joystick lever 254 to command the command movement direction of the hull, the ship's direction command thrust, and the hull lateral command thrust.

  In this marine vessel maneuvering operation, the high-lift rudder 102, 103 are independently operated at various angles while the propeller pusher 101 is kept in the forward rotation of the propeller to control the propeller wake and the thrust around the stern is 360 °. Control in all directions. By this control, the maneuverability in ship maneuvering can be improved by causing the ship to move forward / backward, stop, forward turn, reverse turn, etc.

  That is, by changing the combination of the rudder angles of the two rudder wheels, it is possible to change the thrust in the direction toward the desired desired direction of propeller wake. The combination of the steering angles listed here is an example, and the combination of the steering angles can be arbitrarily changed so as to obtain the target propulsion direction and thrust.

  As described above, it is not necessary to reverse propeller thrust (propeller reverse) in ship maneuvering, and the main engine can always perform forward maneuvering control while maintaining the forward rotation, and can adjust the speed of the main engine without changing the number of revolutions of the main engine. By adjusting the steering angle, the ship speed can be finely controlled steplessly from the maximum forward speed to the maximum reverse speed corresponding to the propeller speed at that time.

  And the marine vessel maneuvering system (steering control apparatus) 200 of this embodiment exhibits the feature in "HOVERING" (stop on the spot), that is, the marine vessel maneuvering with a left rudder-75 ° and a starboard rudder + 75 °.

  That is, the boat maneuvering system (steering control device) 200 instructs the rotary vane steering gear 104, 105 to the hovering steering angle as the steering angle by the joystick maneuvering unit 255, that is, the hovering steering angle, that is, left steering -75 °, right steering + 75 °. When the pointing steering angle coincides with the hovering pointing steering angle during the operation of the joystick lever 254, the steering angle indicator 271 turns on the indicator lamp 277 of the steering angle indicator 270 in orange to indicate the steering angle. Informing the operator that the angle matches the hovering command steering angle.

  Furthermore, the high lift rudder 102, 103 steers toward the command steering angle in response to the hovering command steering angle, and the actual steering angle of each high lift rudder 102, 103 causes the hull 110 to stand still at the hovering steering angle. When reached, the steering angle instruction unit 271 turns on the indicator lamp 277 in green to inform the operator that the actual steering angle has reached the hovering steering angle.

  Therefore, the boat operator can make the instructed steering angle instructed by himself / herself coincide exactly with the hovering instructed steering angle by receiving notification of the indicator lamp 277 when operating the joystick lever 254. Therefore, even an unfamiliar person in ship maneuvering can maneuver on the spot at a rapid speed and accurately.

Also, the operator is aware that the actual steering angle of each high lift rudder 102, 103 has not reached the hovering steering angle until notified by the indicator lamp 277, and each high lift rudder 102 is notified by the indicator lamp 277. The fact that the actual steering angle of 103 reached the hovering steering angle and its time can be accurately known, and the safety of the unskilled operator's maneuvering maneuvers is improved.
2. The operation mode by the emergency suspension unit By one behavior of pressing the emergency suspension push button 264, the emergency suspension unit 265 can be activated, and the vessel can be urgently suspended prior to all the operation modes. That is, regardless of the steering mode of the joystick lever 254, or regardless of the other operation modes, the crash stop mode by the emergency stop portion 265 (left steering steers left general 105 °, right steering steers right star 105 °) Since both rudders generate a very large braking force and reverse power by switching to the rudder, it is possible to stop the hull at a short distance for a much shorter time than maneuvering by propeller inversion.

  Also, in the crash astern, there is no need to stop the main engine and restart the reverse, so there is no so-called uncontrolled state during ship maneuvering, so it is possible to respond quickly to navigational situations.

When maneuvering by the characteristics of the ship, disturbance or the like occurs during maneuvering by the emergency stop unit 265, or when it is desired to change the direction of the traveling force including the heading as required, the joystick lever 254 is operated as it is. Then, as in the case of normal joystick operation, the joystick lever 254 can be used for maneuvering and escorting freely.
3. Steering Mode by Auto-Pilot In normal navigation, the mode switching switch 260 is operated to select the steering mode by the auto-pilot.

The auto navigational operation image 269 is displayed on the monitor screen of the display device 262, and the position of the ship, the direction to advance, the position to reach, the position to reach or the ship's heading are input to the auto navigation portion 253 by touch operation on the monitor screen. Guide the ship automatically at the set course. The auto navigation unit 253 appropriately controls the steering angle based on the current position information of the ship, the guidance route information, and the stop holding position information.
4. Manually Operated Mode The mode switching switch 260 is operated to select the operated mode by the manually steered wheels 256. In this operation mode, the steering angle of the two high lift rudder 102, 103 is instructed to the manual maneuvering unit 257 by the rotation operation of the manual steering wheel 256, and the rudder angle of the two high lift rudder 102, 103 is controlled. Operate a ship.
5. Non-follow-up operation mode The mode switching switch 260 is operated to select an operation mode by the non-follow-up operation lever 258. In this maneuvering mode, the non-follow-up steering unit 259 steers the starboard or port according to the time during which the non-follow-up steering lever 258 is operated to the left or right.
Second Embodiment
In the first embodiment, the indicator lamp 277 is exemplified as the steering angle matching notification means and the hovering notification means, but in the second embodiment, the display device 262 of the marine vessel maneuvering system (steering control device) 200 is used as the steering angle transition display device. Describe the configuration to be used.

  That is, the boat maneuvering system (steering control device) 200 instructs the rotary vane steering gear 104, 105 to the hovering steering angle as the steering angle by the joystick maneuvering unit 255, that is, the hovering steering angle, that is, left steering -75 °, right steering + 75 °. When the commanded steering angle approaches the hovering commanded steering angle during the operation of the joystick lever 254, a display device which is the steered angle transition display device, the instructed steering angle, the actual steering angle, the steering angle matching notifier and the hovering notifier. Displayed in 262 as image information.

  This image information is shown in FIG. Here, on the display device 262, an instruction value indicating the instruction turning direction instructed by the joystick lever 254 and the value of the instruction thrust is vector-displayed as image information.

  The value of the command steering angle by the joystick lever 254 is displayed as a command vector value (corresponding to the command steering angle) V1 whose origin is the position of the hull 110 in position (hover) position, and the magnitude of the execution turning direction and the execution thrust Is indicated as an execution vector value (corresponding to an actual steering angle) V2 whose origin is an in-situ (hover) position of the hull.

  Then, when the instruction vector value V1 matches the hovering instruction steering angle, that is, the origin (in-situ stationary position), for example, the lamp image P1 whose steering angle instruction unit 271 doubles as steering angle coincidence notification means and hovering notification means The color is changed to a color, and the operator is notified that the instructed steering angle matches the hovering instructed steering angle.

  Furthermore, the high lift rudder 102, 103 steers toward the command steering angle in response to the hovering command steering angle, and the actual steering angle of each high lift rudder 102, 103 causes the hull 110 to stand still at the hovering steering angle. When reached, the steering angle instruction unit 271 changes the color of the lamp image P1 to, for example, a green color to notify the operator of the fact that the actual steering angle has reached the hovering steering angle.

Moreover, it is also possible to change the entire screen of the display device 262 in color instead of the action of changing the color of the lamp image P1.
Third Embodiment
The image information displayed on the display device 262 forming the steering angle transition display device can also display the steering angle numerically as shown in FIG.

  That is, the boat maneuvering system (steering control device) 200 instructs the rotary vane steering gear 104, 105 to the hovering steering angle as the steering angle by the joystick maneuvering unit 255, that is, the hovering steering angle, that is, left steering -75 °, right steering + 75 °. When the instructed steering angle approaches the hovering instructed steering angle during operation of the joystick lever 254, the indicated steering angle, the actual steering angle, and the steering angle coincidence notification means are displayed on the display device 262, which is a steering angle transition display device. Display as.

  Here, as shown in FIG. 9, the display device 262 displays the instructed steering angle instructed by the joystick lever 254 and the actual steering angles of the high lift rudder 102, 103 numerically.

  Then, when the value of the instruction steering angle matches the hovering instruction steering angle, the steering angle instructing unit 271 changes the lamp image P2 forming the image information of the steering angle coincidence notification means, for example, into orange, and the instruction steering angle Informing the operator that the hovering instruction steering angle has been matched.

  Furthermore, the high lift rudder 102, 103 steers toward the command steering angle in response to the hovering command steering angle, and the actual steering angle of each high lift rudder 102, 103 causes the hull 110 to stand still at the hovering steering angle. When reached, the steering angle instruction unit 271 changes the lamp image P3 forming the image information of the hovering notification means to, for example, a green color, and notifies the operator of the fact that the actual steering angle has reached the hovering steering angle.

V1 Instruction vector value V2 Execution vector value P1, P2, P3 Ramp image 100 Thrust system 110 Hull 101 Propeller thruster 102, 103 High lift rudder 104, 105 Rotary vane steering gear 106, 107 Rudder control device 108 Bow thruster 109 Thruster control Device 151, 152 Pump unit 153, 154 Steering angle transmitter 155, 156 Feedback unit 200 Ship handling system 250 Ship handling stand 251 Gyro compass 252 Gyro direction display part 253 Auto steering part 254 Joystick lever 255 Joystick steering part 262 Display device 263 Image control part 270 steering angle indicator 271 steering angle indicator 272 display board 273, 274 hands 275, 276 steering angle scale 277 indicator run

Claims (4)

A pair of propulsion propellers arranged at the stern, a pair of left and right high lift rudder arranged behind the propulsion propeller, a pair of rotary vane steering gear for driving each high lift rudder, and two high lift rudder In a single-shaft two-steer ship equipped with a steering control device that controls the direction of ship motion by combining the steering angles,
The steering control device informs the operator of the joystick maneuvering unit giving an instructed steering angle to each rotary vane steering gear and that the instructed steering angle instructed by the operation of the joystick lever in the joystick maneuvering unit matches the hovering instructed steering angle. A steering control device for a single-shaft two-steer ship characterized by having a steering angle match notification means.   The single-shaft two-rudder according to claim 1, wherein the steering control device includes hovering notification means for notifying the operator of the fact that the actual steering angle of each rudder has reached a hovering steering angle that causes the ship to rest there. Ship steering control device.   The steering control device has a steering angle transition display device, and when the instructed steering angle approaches the hovering instructed steering angle, displays the indicated steering angle and steering angle coincidence notification means as the image information on the steering angle transition display device. The steering control device for a single-shaft twin steering vessel according to claim 1.   4. The one axis according to claim 3, wherein the steering control device displays the actual steering angle and the hovering notification means on the steering angle transition display device as image information when the actual steering angle of each rudder approaches the hovering steering angle. Steering control device for two-handed ship.

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