| 摘要 |
PURPOSE:To perform optimal weather adjusting automatically without influencing onto the system characteristic by maintaining continuity of optimal presumed value before/after initialization of Karman filter in an automatic vessel steering system. CONSTITUTION:Direction PSI and setting direction PSI1 are compared in a comparator 8 to produce the differential direction PSIe while slew angular speed PSI' is fed from an angular speed meter 5 to a parameter operating section 15 and R- operating section 10 to presume the observing noise R. At the same time Karman filter section 9 is initialized. Vessel speed S detected by a speed log 6 is quantized in a multi-level converting section 16 to initialize said section 9 through variation of vessel speed S'. The operating section 15 will employ the previous optimal presumed level as the initial value to operate the optimal presumed value sequentially on the basis of A, B data from the operating section 12 and G data from the operating section 13. Then a command steering angle delta* is provided through regulating sections 16, 17 and an adder to a steering machine 2.
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