| 摘要 |
PURPOSE:To precisely correct wave disturbance and switch output to an energy saving mode, by providing an estimation function of estimating hull characteristics and wave disturbance. CONSTITUTION:A hull characteristics estimating section 10 generates estimated hull parameters alpha and beta, and a hull motion estimating section 11 generates an estimated course signal psi and an estimated turn rate signal psi'. A wave disturbance frequency deciding section 12 decides frequencies omega1 and omega2 and outputs their signals. A wave disturbance estimating section 13 estimates a magnitude of wave disturbance controllable by the hull 1. A sea condition determining section 14 determines a sea condition from a wave disturbance condition, and generates its frequency. An optimum gain adjusting section 15 for course maintenance and course change generates an optimum gain IK1 according to the signals alpha and beta. An optimum operation amount computing section 16 for course maintenance and course change corrects the signals psi and psi'. An optimum gain adjusting section 17 for wave disturbance generates an optimum gain IK2 according to the output from the sea condition determining section 14. An optimum operation amount computing section 18 for wave disturbance corrects an estimated wave disturbance signal Wd. A synthetic optimum operation amount computing section 19 adds operation amount outputs Udelta1 and Udelta2 to generate an optimum rudder angle signal Udelta.
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