PROBLEM TO BE SOLVED: To make it possible to correspond to a hull having a small revolution force gain.SOLUTION: An automatic steering device for a marine vessel comprising a feed back controller which outputs a command steering angle based on a reference azimuth and a bow azimuth to a control object. The feed back controller comprises: an estimator which outputs an estimated deviation and an estimated angular velocity as an estimation value based on a deviation between the reference azimuth and the bow azimuth, and the command steering angle; and a state feed back controller which outputs the command steering angle by multiplying a proportional gain K, which is set to a prescribed first specification gain value, on the estimated deviation, and by multiplying a derivative gain K, which depends on the value of the proportional gain K, on the estimated angular velocity.SELECTED DRAWING: Figure 6
【課題】旋回力ゲインが小さい船体に対応する。【解決手段】参照方位と船首方位とに基づく命令舵角を前記制御対象へ出力するフィードバック制御器を備え、フィードバック制御器は、参照方位と船首方位との偏差と命令舵角とに基づく推定値として推定偏差と推定角速度とを出力する推定器と、推定偏差に対して所定の第1仕様ゲイン値に設定された比例ゲインKPを乗じるとともに、推定角速度に対して比例ゲインKPの値に依存する微分ゲインKDを乗じて命令舵角を出力する状態フィードバック制御器とを備える。【選択図】図6
AUTOMATIC STEERING DEVICE FOR MARINE VESSEL
船舶用自動操舵装置
2018-03-08
Patent
Electronic Resource
Japanese
MARINE VESSEL STEERING MECHANISM, MARINE VESSEL STEERING SYSTEM, AND MARINE VESSEL
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