| 摘要 |
PROBLEM TO BE SOLVED: To identify a parameter in a ship which does not comprise a log speed meter.SOLUTION: An automatic steering device comprises an identification calculation part 12 for identifying a ship body parameter. The identification calculation part 12 comprises: an identification model 123 for outputting model output data from predetermined input data which is acquired in the automatic steering device for ship, and including a ship body model having a yaw identification model related to yaw motion of the ship body, and a sway identification model related to a sway motion of the ship body; a parameter adjustment part 125 for adjusting and identifying the ship body parameter, based on a comparison result of the model output data from the identification model 123 and output data being a measurement value related to the ship body; and a speed calculation part 126 for calculating surge speed of the ship body, based on a bow azimuth, ground speed, and ground azimuth detected for the ship body. The input data is the surge speed calculated by the speed calculation part 126, bow azimuth detected for the ship body, and a command steering angle outputted by the automatic steering device for ship.SELECTED DRAWING: Figure 2 |
