| 摘要 |
PURPOSE:To prevent creation of overshoot upon controlling of steering, by calculating command signal of rudder angle on the basis of azimuth, angular velocity and disturbance which are estimated by condition estimation model, and converting the command signal of the rudder angle to displacement by a power unit to correct the azimuth of a ship. CONSTITUTION:An automatic steering device includes a control circuit 1' for estimation model of hull condition, a weather regulating circuit 2 formed of non- linear circuit having dual gain or dead band, and a power unit 3 for converting rudder angle command signal (delta) to displacement (deltas). Further, the device includes an azimuth detector 6 for outputting azimuth detection signal (phi) from a hull 5, and a steering gear control device 4 for transmitting the displacement (deltas) from the power unit to the hull 5. In each block of the control circuit 1', correction coefficient is multiplied by difference between the detection signal (phi) and estimated azimuth (phi') and the product is added to the detection signal to obtain the estimated azimuth (phi'). Since (phi') shows response approximate to (phi) irrespective of change in (phis), the difference between (phi) and (phi') and estimated disturbance (f') is not so changed. Accordingly, it is possible to eliminate overshoot accompanied by change in (phis).
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