Title:
AUTOMATIC STEERING DEVICE FOR SHIP
Document Type and Number:
Japanese Patent JP2016008038
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To achieve route control without using a log speed meter.SOLUTION: An automatic steering device for ship comprises: a trajectory plan unit for outputting a reference azimuth and a reference position of a ship body; and a feedback control unit for outputting a command steering angle so that an azimuth and a position of the ship body match the reference azimuth and the reference position, on the basis of the azimuth and position of the ship body detected by a sensor. The feedback control unit includes: an azimuth control system feedback gain tool for constructing an azimuth control loop; and a route control system feedback gain tool for constructing a route control loop including the azimuth control loop. The route control system feedback gain tool is expressed by the formula, in which s is a Laplace operator, Kis a route gain, and Kis an integral gain, the route gain and the integral gain are based on attenuation coefficients different from each other.
Inventors:
HANE FUYUKI
Application Number:
JP2014131868A
Publication Date:
January 18, 2016
Filing Date:
June 26, 2014
Export Citation:
Assignee:
TOKYO KEIKI INC
International Classes:
B63H25/04
Domestic Patent References:
| JP2009248896A | 2009-10-29 | |||
| JP2011235771A | 2011-11-24 | |||
| JPS5555095A | 1980-04-22 | |||
| JP2008213681A | 2008-09-18 | |||
| JP2004303086A | 2004-10-28 | |||
| JP2013180682A | 2013-09-12 | |||
| JPH0840390A | 1996-02-13 |
Foreign References:
| US20060089796A1 | 2006-04-27 |
Attorney, Agent or Firm:
Hideo Akazawa