天候調整等の自動操舵に及ぼす影響について(日本航海学会第32回講演会)

概要

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In previous paper the author analyzed on the linear elements included in the autopilot by the theory of automatic control. The nonlinear elements, that is weather and telemotor adjustment and rudder restriction by limit switch, shall be analyzed in this paper by describing function method. Weather adjustment is the backlash to keep off the overwork of ship's steering engine in the stormy sea, but backlash follows the phase lag which causes the limit cycle. So it is desired that the mechanism will not cause the phase lag. New weather adjustment has already been used which does not follow the phase lag. So the author will explain this adjustment here. In these days telemotor adjustment is used for the simple mechanism, which is negative backlash in the feedback loop. The negative backlash stabilizes automatic steering by phase lead compensation of the rudder angle. Of course the linear control system, which is in proportion to her turning rate, is superior to this backlash. It is doubtful wheather the rudder angle will be restricted within the small one by limit switch, considering from the point of rudder efficiency in the stormy sea. It should be adjustd as the rudder moves until more larger angle than this small one.
社団法人日本航海学会の論文
1965-07-25