To obtain an azimuth controller and an azimuth control method capable of handling disturbance by appropriately adjusting a control gain by calculating a varying hull parameter online without necessitating excessive storage quantity and calculation time for information processing.SOLUTION: An azimuth controller for a vessel includes: an azimuth control unit for outputting a steering angle command signal for making a vessel proceed in a traveling azimuth based on an azimuth control signal, a yaw angle signal, and a yaw angle speed signal generated by an azimuth command generation unit; a steering angle control unit for controlling a rudder based on the steering angle command signal; and a control gain adjustment unit for adjusting a control gain of the azimuth control unit by calculating the yaw angle signal for a steering angle signal output by a steering angle detection unit and frequency characteristics of the yaw angle speed signal.SELECTED DRAWING: Figure 1
【課題】情報処理に過大な記憶容量と計算時間を必要とせず、変化する船体パラメータをオンラインで算定して制御ゲインを適応的に調整し、外乱に対応できる方位制御装置および方位制御方法を得ることを目的とする。【解決手段】方位指令生成部によって生成された方位指令信号、ヨー角信号、ヨー角速度信号、に基づいて船舶を進行すべき方位へ向かわせる舵角指令信号を出力する方位制御部、舵角指令信号に基づいて舵を制御する舵角制御部、舵角検出部によって出力された舵角信号に対するヨー角信号およびヨー角速度信号の周波数特性を算定して方位制御部の制御ゲインを調整する制御ゲイン調整部、を備えた船舶の方位制御装置。【選択図】図1
AZIMUTH CONTROLLER AND AZIMUTH CONTROL METHOD FOR VESSEL
船舶の方位制御装置および方位制御方法
2022-10-19
Patent
Electronic Resource
Japanese
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