| 摘要 |
PURPOSE: To predict an automatic course changing route, and reduce useless move by providing a means to accumulate a turning radius and a turning center in parallel coordinates axes with a target course, and a means to adjust a steering angle in such a way that a vessel locus draws an arc of the turning radius. CONSTITUTION: An automatic steering gear is provided with a controller 1 as a steering angle adjusting means to set a difference between an inputted target courseψ02 and a current vessel courseψ01 at zero. In this case, a turning center setting part 23 is provided as a means to accumulate a turning radius RT and a turning center XT, YT in parallel coordinates axes with the target courseψ02 . In addition, a contant turning controller 9 is provided as a means to adjust a steering angle in such a way that a vessel locus draws an arc of the turning radius to the turning center after a distance from a vessel position to the turning center becomes similar to the rotation radius till the vessel cource reaches the target cource. An automatic cource changing route can thus be predicted correctly, and useless move in automatic course changing can be reduced.
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