舶用自動操舵装置の設計に関する研究

概要

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This paper describes a new ship's auto-pilot system based on two degrees of freedom PID control theory.The classical PID control law is still used for ship's auto-pilot system,however,the conventional system can not satisfy two conditons as suppressing a disturbance and followiong up a set point.In order to solve this problem,a new system was designed through two degrees of freedom PID control theory.Control simulations were carried out to evaluate the designed system.Lastly,in order to make certain that the system as designed, full-scale experiments were carried out using an actual small training ship,Wakashio Maru,at sea.As a result the new system was proved adequately fit for practical use.