| 摘要 |
PROBLEM TO BE SOLVED: To achieve route control without using a log speed meter.SOLUTION: An automatic steering device for ship comprises: a trajectory plan unit for outputting a reference azimuth and a reference position of a ship body; and a feedback control unit for outputting a command steering angle so that an azimuth and a position of the ship body match the reference azimuth and the reference position, on the basis of the azimuth and position of the ship body detected by a sensor. The feedback control unit includes: an azimuth control system feedback gain tool for constructing an azimuth control loop; and a route control system feedback gain tool for constructing a route control loop including the azimuth control loop. The route control system feedback gain tool is expressed by the formula, in which s is a Laplace operator, Kis a route gain, and Kis an integral gain, the route gain and the integral gain are based on attenuation coefficients different from each other. |
