| 摘要 |
PURPOSE:To make a ship surely controllable to a setting azimuth even if there is large steady-state disturbance, by inputting only an operational result of proportion and differentiation among PID operational results of the command steering angle set by a controller, and adding a limitation to it. CONSTITUTION:With a deviation (e) between a setting azimuth and an actual shipping azimuth to be detected by an azimuth detector 1, control operation of proportion + integration + differentiation is performed by a controller 2 of an automatic steering gear, and a command steering angle is found. In this case, a limitation is added to only the operational result of proportion and differentiation through a limiter 3, and the sum total mu of a steering angle mu' or the operational result of limited proportion and differentiation and a steering angle mu'' of the unlimited integration operational result is given to a steerage driving device 4, thus steering control over a ship 5 takes place. Doing like this, even if large steady-state disturbance due to a wind or the like blowing one direction alone acts on the ship for hours, the ship azimuth is surely controlled to the setting azimuth by the automatic steering gear.
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