| 摘要 |
PURPOSE:To reduce useless steering in such a way that when steering angular deviation is small, and there is rarely any influence to be given to the course of a ship, the rudder is not driven for a long time, and when the steering angular deviation is large, and there is a big influence to be given to the course, its response is accelerated, and error in the course may not become large. CONSTITUTION:Steering angular deviation signals from the steering command value which is given as output from a subtraction circuit 1 and from the rudder position signals are sent to a switching circuit 5 and to an integrating circuit 6. At the time of connecting the grounding signals from the circuit 5, the circuit 6 integrates the steering angular signals, and when integration result becomes more than the discriminating level of a second level discriminating circuit 7, a holding circuit 8 converts the circuit 5 to the steering angular deviation signals by means of output from the circuit 7. In consequence, the steering angular deviation signals are transmitted through a first level discriminating circuit 2 to a rudder driving means 3, and steering is done. As the result from the steering, the steering angular signals become lower than the discriminating level, and when the rudder is stopped, the circuit 8 converts the circuit 5 to grounding signals. Besides, during steering, the circuit 6 is reset by means of output from the circuit 8, and when the rudder is stopped, the circuit 6 resumes said integration. |
