Method for controlling ship, ship control program, ship control system, and ship

Abstract

The method for controlling a ship is employed in a ship that has a plurality of power sources including a first power source (e.g., engine) and a second power source (e.g., motor) and transmits power supplied from at least one of the plurality of power sources to the propulsive force generator through the power transmitter for propulsion of a hull. The control method includes determining at least two of the first power source, the second power source, and the propulsive force generator as comparison targets and comparing the rotational speed between the comparison targets, and determining an abnormality of at least one of an actuator that drives a power transmitter and the power transmitter based on the comparison result on the rotational speed.

1 . A method for controlling a ship that has a plurality of power sources including a first power source and a second power source and that propels a hull by transmitting power from at least one of the plurality of power sources through a power transmitter to a propulsive force generator, the method comprising:
 determining at least two of the first power source, the second power source, and the propulsive force generator as comparison targets and comparing rotation speeds of the comparison targets with each other; and   determining an abnormality of at least one of an actuator that drives the power transmitter and the power transmitter based on a result of the comparison between the rotation speeds.   
     
     
         2 . The method for controlling a ship according to  claim 1 , wherein
 the rotation speeds are compared with each other in a determination period after the actuator drives the power transmitter.   
     
     
         3 . The method for controlling a ship according to  claim 2 , wherein
 the determination period is within a predetermined period of time since the actuator drives the power transmitter.   
     
     
         4 . The method for controlling a ship according to  claim 1 , further comprising:
 performing additional control on at least one of the comparison targets so that a difference between the rotation speeds of the comparison targets is increased when the comparison between the rotation speeds is performed.   
     
     
         5 . The method for controlling a ship according to  claim 4 , wherein
 the additional control includes control for increasing at least one of the rotation speeds of the first power source and the second power source.   
     
     
         6 . The method for controlling a ship according to  claim 4 , wherein
 the additional control includes control for reducing at least one of the rotation speeds of the first power source and the second power source.   
     
     
         7 . The method for controlling a ship according to  claim 4 , further comprising:
 determining whether the additional control is required in accordance with a determination condition, wherein   the additional control is performed when the additional control is required.   
     
     
         8 . The method for controlling a ship according to  claim 7 , wherein
 the determination condition includes a load condition associated with a rotation speed of the propulsive force generator.   
     
     
         9 . The method for controlling a ship according to  claim 8 , wherein
 the load condition includes the rotation speed of the propulsive force generator which is smaller than a threshold value.   
     
     
         10 . The method for controlling a ship according to  claim 4 , wherein
 the additional control is performed in accordance with content of an operation of the actuator.   
     
     
         11 . A non-transitory, computer-readable medium storing instructions, which when executed by at least one processor, cause the at least one processor to execute the method for controlling a ship according to  claim 1 . 
     
     
         12 . A ship control system that is employed in a ship that has a plurality of power sources including a first power source and a second power source and that propels a hull by transmitting power from at least one of the plurality of power sources through a power transmitter to a propulsive force generator, the ship control system comprising:
 a comparison processor configured to:
 determine at least two of the first power source, the second power source, and the propulsive force generator as comparison targets; and 
 compare rotation speeds of the comparison targets with each other; and 
   an abnormality determination processor configured to determine an abnormality of at least one of an actuator that drives the power transmitter and the power transmitter based on a result of the comparison between the rotation speeds.   
     
     
         13 . A ship, comprising:
 the ship control system according to claim  12 ; and   the hull.