| 摘要 |
PURPOSE:To prevent increase of the loss of an engine horsepower and control a vessel at a set bearing, by inputting computed results of proportion and differ ential, of the operation results for command rudder angle, into the first limiter, and those of integral into the second limiter to exercise the rudder angle control. CONSTITUTION:A command rudder angle is computed by a controller 2 from the set bearing and a bearing deviation e detected by a bearing detector 1. Of the computed results, the results of proportion and differential are input into the first limiter 3, and those of integral into the second limiter 6, both of which are restricted therein. And the sum of both restricted results is given to a steering unit 4. Thus, by restricting the computed results respectively, the vessel can be prevented from taking a large rudder angle. Therefore, increase of the loss of the engine horsepower is prevented, and the bearing of the vessel can be controlled always at the set bearing within a safety cruis ing.
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