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Patent Searching and Data


Title:
AUTOMATIC STEERING DEVICE FOR VESSELS
Document Type and Number:
WIPO Patent Application WO/2019/203335
Kind Code:
A1
Abstract:
This invention is provided with a geodesic calculation unit 11 and a feedback control unit 12. The geodesic calculation unit 11: calculates, on the basis of a departure position and an arrival position of a hull, a geodesic serving as a great circle route; outputs, on the basis of a hull position (x, y) and heading ψ detected by a sensor 3, an initial course at the point of intersection of the geodesic intersecting with a line that passes through the hull position (x, y) and that is orthogonal to the geodesic, as a reference direction ψR; and outputs the length from the hull position to the intersection as a route error ye. The feedback control unit 12 has a direction control system feedback gain unit constituting a direction control loop in which the heading ψ is made to track the reference direction ψR, and a route control system feedback gain unit constituting a route control loop in which the hull position (x, y) is made to track the geodesic so as to reduce the route error ye. The feedback control unit 12 adds an output from the direction control system feedback gain unit and an output from the route control system feedback gain unit and outputs the result as a command rudder angle δc.

Inventors:
HANE, Fuyuki (Minami-Kamata 2-chome Ota-k, Tokyo 51, 〒1448551, JP)
Application Number:
JP2019/016747
Publication Date:
October 24, 2019
Filing Date:
April 19, 2019
Export Citation:
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Assignee:
TOKYO KEIKI INC. (16-46, Minami-Kamata 2-chome Ota-k, Tokyo 51, 〒1448551, JP)
International Classes:
G05D1/00; B63H25/04
Foreign References:
JP2016008038A2016-01-18
CN203005731U2013-06-19
JP2009286230A2009-12-10
JP2016159695A2016-09-05
JP2013226905A2013-11-07
JP2002316697A2002-10-29
Attorney, Agent or Firm:
AKAZAWA, Hideo (Harada Bldg. 3F, 333 Yamabuki-cho, Shinjuku-k, Tokyo 01, 〒1620801, JP)
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