PURPOSE: To speedily secure ordered course by reactivating a rudder order bias integrator when motion completion is sensed based on heading error and heading rate.
CONSTITUTION: An ON/OFF reset logic 10 is provided which responses to a controller mode signal of an input terminal 11 and a heading direction error signal H of an input terminal 12. An output signal of the logic 10 is input to a rudder order bias integrator 14. The mode signal of the input terminal 11 directs turning speed, motion or keeping of heading direction. The integrator 14 generates a ROB signal while integrating the heading direction error signal of the input terminal 12. After completion of motion, a sensing logic 17 generates a motion completion indicating signal while receiving an ON/OFF signal indication from the logic 10, the controller mode signal and the heading direction error signal, a heading direction speed signal HRATE of an input terminal 19 and a counter rudder order signal of an input terminal 20. Upon generation of the motion completion indicating signal, the integrator 14 is reactivated by the logic 10.
REBETSUKA EE BAADO
DEIBUITSUDO EE BENETSUTO
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