| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an automatic steering device for ship which enables a ship to follow the planned ship course by taking into consideration a tidal current component during the turn while avoiding a saturated condition of a steering gear. <P>SOLUTION: The automatic steering device for ship includes: a reference azimuth generation portion 30 for generating the reference azimuth ψ<SB POS="POST">R</SB>for making a turn following the planned ship course; a coordinate transformation section 40 for performing the coordinate transformation of the estimated tidal current component based on the reference azimuth output from the reference azimuth generation portion 30; a tidal current correction section 42 for obtaining the oblique sailing angle β<SB POS="POST">d</SB>counteracting the tidal current using the tidal current speed component subjected to the coordinate transformation by the coordinate transformation section 40; a feedforward rudder angle generation section 46 which obtains the reference rudder angle δ<SB POS="POST">R</SB>for achieving the reference azimuth ψ<SB POS="POST">R</SB>and the tidal current rudder angle δ<SB POS="POST">D</SB>for generating the oblique sailing angle βd, and generates the feedforward rudder angle δ<SB POS="POST">FF</SB>using these obtained rudder angles; and a rudder angle setting section 28 for obtaining the reference rudder angle set value δ<SB POS="POST">0R</SB>by using the estimated tidal current component. The reference azimuth generation portion 30 generates the reference azimuth ψ<SB POS="POST">R</SB>in such a way that the reference rudder angle δ<SB POS="POST">R</SB>does not exceed the reference rudder angle set value δ<SB POS="POST">0R</SB>obtained by the rudder angle setting section 28. <P>COPYRIGHT: (C)2013,JPO&INPIT |
