| 摘要 |
<P>PROBLEM TO BE SOLVED: To realize the optimum deflection track plan, and to achieve the consistent and efficient ship operation in an automatic steering device for ships having a track computation unit for computing and outputting the reference course with respect to the desired course change amount of a ship, and a feedforward controller for performing the open loop control by computing the feedforward steering angle from the reference course. <P>SOLUTION: A track computation unit outputs the reference course in a divided manner into the acceleration mode, the constant velocity mode, and the deceleration mode, and the feedforward controller has a transmission property expressed by the formula 1. Where, K<SB POS="POST">S</SB>, T<SB POS="POST">S</SB>and T<SB POS="POST">S3</SB>denote hull parameters, and each having the transmission characteristics of the turning force gain, and two time constants. s denotes the Laplace operator. <P>COPYRIGHT: (C)2013,JPO&INPIT |
