| 摘要 |
FIELD: transport.SUBSTANCE: invention relates to navigation, particularly, to automatic ship navigation in preset direction. Method of chip control with compensation for slowly changing disturbances exploits relative bearing setting device, satellite navigation system receiver, steering drive, ship motion electronic model, adding controller and integrator. At adding controller input generated is bearing preset angle signals ?=f(t) with the help of relative bearing setting and bearing angle ? is estimated at ship motion electronic motion output, to obtain Kd/dt?, a derivative of bearing angle estimation generated at adding controller unit. At ship motion electronic model input generated are the signal rudder angle ? from rudder transducer and discrepancy signal K(? -), where bearing angleis generated from ship motion electronic model output. Discrepancy signal K(? -) is generated at integrator input. Integrator output signal Ku ?(? -)dt is fed to adding controller input. Signal ?=K1(- ?) + K2d/dt+ Ku?(? -)dtis generated at adding controller output and fed therefrom to steering drive input.EFFECT: higher accuracy of control, ruled out shifts from preset bearing at the presence of slowly changing disturbances.1 dwg |
