| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an automatic ship steering device for easily calculating and estimating a tidal current vector by designing a feedback control system for a route control system based on a feedback control system for an orientation control system. Ž<P>SOLUTION: An estimator consists of an orientation control system estimator which is based on the orientation control system for controlling a steering angle to make a bow orientation follow a set orientation, and a route error system estimator 18B for a route error system. The route error system estimator 18B estimates an estimated position error (x<SB>e</SB>, y<SB>e</SB>) of the route error system and an estimated tidal current vector (d<SB>x</SB>, d<SB>y</SB>). The route error system estimator 18B sets an estimated gain which is easily calculated and determined from a relationship between a pole-placement design concept and the estimated gain utilizing a coordinate relationship to easily estimate the tidal current vector. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
|
