| 摘要 |
PURPOSE:To realize the optimum control, by providing an arithmetic filter, which filters a course signal, in an input stage of an arithmetic part, which calculates an instruction steering angle signal, so that a bad influence of a differentiated rudder by the 1/6 degree resolution of a course to steering is removed. CONSTITUTION:An arithmetic part filter 11, which serves as an arithmetic filter for filtering a course signal psi, always measures a period tn changing in every 1/6 degrees of a live data of the course signal psi. A signal of an estimated course (f) and an estimated turn rate filtering signal are calculated by using a period Tn-1 before change and a sampling period DELTAt in every periods t1, t2.... And the above signals are input to an input filter 5 of an arithmetic part. The signal of the estimated course (f), when the arithmetic filter 11 and the input filter part 5 are jointly used, generates a smooth change as shown in the drawing even when the live data of the course signal psi, while changing by every 1/6 degrees in a stepped state, is input. Consequently, a bad influence, in which large steering is instantaneously performed, can be decreased small.
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