| 摘要 |
PROBLEM TO BE SOLVED: To provide a marine automatic steering system capable of making coincide an average bow azimuth with a target bow azimuth even to a very low frequency component considered as a stationary disturbance force component among disturbance forces acting to a hull, and freely selecting a variable disturbance component in a range from setting conducting no steering corresponding to the variable disturbance component to setting suppressing bow azimuth deviation small. SOLUTION: In the marine automatic steering system conducting automatic control by giving a command rudder angle to a steering device 2 installed in a hull 1, the momentary bow azimuth deviationΨd(t) is calculated in a first operation part 6 based on bow azimuthΨ(t) detected with an azimuth gage 3 and a target bow azimuthΨr, and a first command steering angle component corresponding to the very low frequency component considered the stationary disturbance force component is calculated in a second operation part 7 based on the bow azimuth deviationΨd(t) and a yawing period T detected with a yawing period detecting means 4, a second command steering angle component corresponding to the variable disturbance force is calculated in a third operation part 8, and they are added together in a fourth operation part 9 to find a command steering angle.
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