| 摘要 |
PURPOSE:When adjusting the steering angle through a controller to sail on a target course, to maintain fuel consumption at the minimum by performing steering control while considering disturbance subjected to the vessel. CONSTITUTION:Upon application of disturbance onto a vessel 2 under sailing, direction angle psi0 deflected from the target course and oblique sailing angle beta are produced. On the basis of said angles and the steering angle delta0 from a controller 4, a dynamic characteristic operating means 5 will operate the motion differential of vessel 2 under disturbance while a disturbance operating means 6 will operate the magnitude of disturbance on the basis of said angles psi, beta to provide the results to a simulation means 7. The simulating section 10 will simulate the sailing state of vessel 2 where an optimal gain searching section 12 will search such gain of controller 13 that the evaluated function level will be made minimum at the evaluated function operating section 11. Said gain is provided through an optimal control gain automatic setting section 16 to the controller 4. The controller 4 will produce the steering signal on the basis of said gain.
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