| 摘要 |
PURPOSE:To eliminate useless steering operation and to reduce steering noise in a submarine boat by adding a primary delay to a steering signal generated based on a bow-sway-angle and a bow-sway-angular velocity and by restricting the absolute value of the helm angle by using a limiter. CONSTITUTION:A course signal from a gyroscope 1 is differentiated by a differentiater 2, multiplied by a gain constant by a multiplier 3, and put in an operation part 4. The course signal and a course setting signal from a course setting unit 5 are put in a deviation signal creation part 6. Thus obtained course deviation signals are multiplied by the gain constant by a multiplier 7 and are put in the operation part 4. Here, both signals are added in order to decide the steering angle, but when course judging part 8 decides the current course should be maintained, the steering angle command that is multiplied by 1/N by a steering limiter 9 is output. When the course judging part 8 decides the course should by changed, the steering angle command that is obtained through a primary delay 10 is output to an automatic operation unit. With this contrivance, useless steering operation can be eliminated, noise can be reduced, and a smooth course change can be obtained. |
