Title:
【発明の名称】船舶用自動操舵方式
Document Type and Number:
Japanese Patent JP2522485
Kind Code:
B2
Abstract:
PURPOSE:To aim at stabilizing steering control operation by changing an adaptive gain of a controlling and computing section in accordance with the output of an azimuth deviation judging section so that when the result of output of an external disturbance estimating output section exceeds a predetermined value, a model regulation adaptive control is interrupted. CONSTITUTION:An azimuth deviation judging section 7 judges whether an azimuth deviation epsilon exceeds a threshold value epsilon0 or not, and it is below epsilon0, a gain corresponding to an error (e) of an adjuster 4 is reduced. Further, if the above-mentioned azimuth deviation epsilon dose not exceed the threshold value epsilon0 for a predetermined time period, the operation of a model regulation adaptive control 5 is stopped. Further an external disturbance estimating section 8 estimates the level of external disturbance 6, and if the S/N ratio is worse as in a storm weather condition, the operation of the model regulation adaptive control 5 is compulsorily stopped through an external disturbance level judging section 9 and a change-over switch 10. Thus, it is possible to stably operate the model regulation adaptive control 5 irrespective of automatic course keeping operation and of a storm weather condition, and further, it is possible to restrain the yawing width below an estimated value due to a suitable adaptive gain.
Inventors:
YAMADA HIDEMITSU
Application Number:
JP16948887A
Publication Date:
August 07, 1996
Filing Date:
July 07, 1987
Export Citation:
Assignee:
TOKIMEC INC
International Classes:
G05D1/00; G05D1/02; B63H25/04; (IPC1-7): B63H25/04; G05D1/02
Domestic Patent References:
| JP61119493A |
Attorney, Agent or Firm:
Susumu Takeuchi (1 person outside)