| 摘要 |
PURPOSE:To enable a control in response to timed change of external turbulence for deteriorating the course keeping ability and fuel consumption, by providing functions for estimating the characteristics of a hull and/or waves. CONSTITUTION:High frequency components harmful for steering are eliminated, through a filter unit, out of bow direction signal psi'. Estimated values representing the characteristics of a hull that are estimated parameters R, betaincluding the coefficient of 3rd power of the turn rate are calculated/output through a hull characteristics operation unit 10, based upon the bow direction signal psi, the turn rate signal psi' and a rudder angle signal delta and the optimum gain K1 corresponding to these output signals is output from a course keeping/ changing optimum gain adjusting unit 15. A course keeping/changing optimum operational amount calculation unit 16 sets up a control gain on the basis of said optimum gain output, so as to output an optimum operational rudder angle signal by making calculation on the course direction signal and turn rate signal coming out through the filter unit.
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