| 摘要 |
PURPOSE:To facilitate hand maneuver of a ship by changing the command of turning angular speed in accordance with the speed of ship, suppressing the stopped change in rising of this of this command of angular speed, and thereby enhancing the turning and maneuvering performance. CONSTITUTION:When a ship 8 is maneuvered through a steering arrangement 7 with a turning angular speed phi'1 from a command steering angle generator 1 emitted in accordance with the command steering angle delta0 for the sterring wheel 2, the ship in unstability as shown by the solid line can not put back the turning angular speed phi' to zero even though the mean steering angle is returned to zero, and a residual rudder will be generated. Here, however, a carbo loop is incorporated in a turning angular speed command signal converter 10, after the deviation converter 4, so that the turning angle phi' makes followup to the turning angular speed command phi'1, and thereby the turning angular speed command phi'1 is modified to a turning angular speed command phi''1 in compliance with the current ship speed Vn. Thus the maneuvering performance of ship can be improved to the steady turning characteristic as shown apparently by the dot-and-dash curve in diagram attached regardless of the ship's steady turning characteristic. |
