| 摘要 |
PURPOSE:To permit the automatic optimum steering by installing an external- disturbance characteristic calculation part which estimates the sea state such as wave external disturbance, and performs the external-disturbance correction calculation so that the hull is not given the large influence of the external disturbance and outputs an optimum steering angle signal. CONSTITUTION:The captioned apparatus is constituted of a hull dynamic characteristic calculation part 11A and an external-disturbance characteristic calculation part 20. In the calculation part 11A, the hull parameters and the dynamic characteristics of the hull are calculated and input into the calculation part 20. The wave external disturbance which acts onto the hull is estimation-calculated in a wave external- disturbance estimation calculation part 21, and the results are judged in an estimation- judging part 22. The results of calculation in the calculation part 21 are compared with the estimated model for the wave external-disturbance in a comparison-judging part 23. THe wave external-disturbance frequency which can be controlled for the hull is calculation-determined in a wave external-disturbance cycle determination part 25. The cycle is feedback-controlled into the calculation part 21 and outputted into a sea-condition judging part 26. In the judging part 26, the state of waves is judged and outputted into an external-disturbance correction-calculation part 27, where an optimum steering angle signal is outputted into a steering machine.
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