DISTURBANCE ACCELERATION SPEED ESTIMATION METHOD, HULL AUTOMATIC CONTROL METHOD, DISTURBANCE ACCELERATION SPEED ESTIMATION DEVICE, AND DISTURBANCE ACCELERATION SPEED ESTIMATION COMPUTER PROGRAM

PROBLEM TO BE SOLVED: To provide a disturbance acceleration speed estimation method, a hull automatic control method, a disturbance acceleration speed estimation device, and a disturbance acceleration speed estimation computer program with a high additional value capable of easily executing various types of simulation at low costs.SOLUTION: A method for estimating a disturbance acceleration speed as an acceleration speed based on disturbance acting on a hull includes: an actual acceleration speed acquisition step of acquiring an actual acceleration speed of the hull obtained based on sensor information acquired at a sensor included in the hull; a commanded acceleration speed acquisition step of acquiring a commanded acceleration speed obtained based on a command value provided to a power machine of the hull; and a predicted acceleration speed acquisition step of acquiring a predicted acceleration speed predicted from a learned model in which behavior of a non-disturbed and powerless state in the hull was previously learned, and generates a disturbance acceleration speed based on the actual acceleration speed, the commanded acceleration speed, and the predicted acceleration speed.SELECTED DRAWING: Figure 14 【課題】種々のシミュレーションが容易にかつ低コストで実行可能な付加価値の高い外乱加速度の推定方法、船体の自動制御方法及び外乱加速度の推定装置並びに外乱加速度の推定用コンピュータプログラムを提供する。【解決手段】船体に働く外乱に基づく加速度である外乱加速度の推定方法であって、船体に備えられたセンサーにて取得されたセンサー情報に基づいて得られた船体の実際の加速度を取得する、実加速度取得ステップと、船体の動力機への指令値に基づいて得られた指令加速度を取得する、指令加速度取得ステップと、船体における無外乱かつ無動力状態の挙動を予め学習した学習済モデルにより予測された予測加速度を取得する、予測加速度取得ステップと、を備え、実加速度、指令加速度及び予測加速度に基づいて外乱加速度を生成する。【選択図】図１４