| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide an automatic steering device for ships capable of realizing the consistency of a closed loop under the presence of the uncertainty of parameters. <P>SOLUTION: The automatic steering device for ships includes a feedback controller 12 having an estimator 24 for outputting the estimation value with any disturbance being removed from the detected azimuth from a control object 18, and a state feedback controller 22 for outputting the command steering angle by multiplying the feedback gain to the value obtained from the estimation value and the preset azimuth from the estimator, and constitutes a closed loop together with the control object 18 including a steering engine and a hull for the operation to the hull according to the command steering angle via the steering angle. The natural angular frequencyωe of a hull model of the estimator is set by the characteristic polynomial of the feedback loop, and the characteristic polynomial of the closed loop consisting of the characteristic polynomials of the estimator 24 consisting of polynomials for estimating the hull model, the wave model, and the steering angle offset model. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
