| 摘要 |
PROBLEM TO BE SOLVED: To provide a control device that enlarges a control area up to an operation range having velocity saturation generated, and can improve stability of control and followability thereof.SOLUTION: A control device 1 comprises: a main loop 20 that generates a rudder angle command for aligning a hull 2 with a target posture; a minor loop 30 for causing a rudder angle to follow the rudder angle command; and a velocity saturation compensation part 40 for compensating velocity saturation. The velocity saturation compensation part 40 comprises: an ideal model 41 of a helm 10 that does not include a velocity saturation element; a difference calculation part 42 that calculates a difference between a virtual rudder angle when the rudder angle command or an input command based on the rudder angle command is input to the ideal model 41 and an actual rudder angle when the rudder angle command is input to the hull 10 as a velocity saturation compensation value; and a feed-back part 43 that feeds the velocity saturation compensation value back to the rudder angle command, and causes a value deducting the velocity saturation compensation value from the rudder angle command to be input as the rudder angle command to the minor loop 30. |
