| 摘要 |
PURPOSE:To stably steer a vessel without generating hunting phenomenon with the min. frequency of steering by driving a steering machine actuator in the multiposition control form by the variation of the quantity of the discharged oil which is supplied from a steering machine control parts. CONSTITUTION:In a switching part S1, a switching element SW12 is turned-ON according to a deviation signal (tau), and a solenoid valve P is driven, and a steering machine control signal (i) as the oil discharge quantity (q) in the min. nonsensitive band width is outputted into a cylinder 6b from a steering machine control part 2 through a piping 7. While, the signal (tau) is introduced into a nondifferential movement region addition circuit 9, and compared with a port nonoperation region alphap in a comparison circuit 93, and then a switching element SW42 is turned-ON, and a steering machine control signal (j) is outputted into a cylinder 6b through the piping 7. The cylinder 6b into which signals (i) and (j) are inputted carries out the high speed steering by shifting the cylinder 6 at the steering speed (v) in 3-position control form which is obtained by the synthesis of the discharged oil quantity (q) in the steering machine control arts 2 and 3.
|
