| 摘要 |
PURPOSE:To practically use a feedback controller for a ship, by freely selecting a control gain and automatically switching a control model. CONSTITUTION:An input interface 12 sends data on control instructions for a steered angle etc. and on the hull jolt etc. to a bus 1. A keyboard 13 sends various settings such as a course, a steered angle limit, a signal generation time, main hull items, a steering mode and sea conditions to the bus 11. An ROM14 stores a program for performing optimal control rule operations based on an AR model. A CPU15 performs various kinds of operation and control on the basis of the program stored in the ROM. An RAM16 stores the data and the settings entered through the input interface 12 and the keyboard 13. A solenoid valve control circuit 23 functions to shift a solenoid valve for the hydraulic lines of a steering gear on the basis of a control signal sent from the CPU15.
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