JPS634800U - - Google Patents
Info
- Publication number
- JPS634800U JPS634800U JP9923386U JP9923386U JPS634800U JP S634800 U JPS634800 U JP S634800U JP 9923386 U JP9923386 U JP 9923386U JP 9923386 U JP9923386 U JP 9923386U JP S634800 U JPS634800 U JP S634800U
- Authority
- JP
- Japan
- Prior art keywords
- route
- target
- setting device
- signal
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
第１〜５図は本考案の一実施例としての航路保
持装置を示すもので、第１図はそのブロツクダイ
ヤグラム、第２〜５図は目標航路設定器の作用を
説明するために設定航路および予測航路と目標設
定航路とを示す模式図であり、第６，７図は従来
の航路保持装置を示すもので、第６図はそのブロ
ツクダイヤグラム、第７図は船舶における設定航
路と実航跡とを説明するための模式図である。
１……設定航路信号、２……航路検出信号、１
０，１０′……ＰＩＤ制御器、１３……船体、１
４……外乱、１５……航路修正器、１６……船体
モデル、１７……予測外乱、１８……目標航路設
定器、１９……シミユレータ部、２１，２１′…
…目標航路信号、３０……操縦運動性能データ。
1 to 5 show a course keeping device as an embodiment of the present invention, FIG. 1 is a block diagram thereof, and FIGS. This is a schematic diagram showing a predicted route and a target route. Figures 6 and 7 show a conventional route keeping device. Figure 6 is a block diagram thereof, and Figure 7 shows a set route and an actual route for a ship. FIG. 2 is a schematic diagram for explaining. 1... Setting route signal, 2... Route detection signal, 1
0,10'...PID controller, 13...hull, 1
4... Disturbance, 15... Course corrector, 16... Hull model, 17... Predicted disturbance, 18... Target course setter, 19... Simulator section, 21, 21'...
...Target route signal, 30...Maneuvering performance data.
Claims (1)
同航路設定器からの設定航路信号を修正して目標
航路を設定するための目標航路設定器と、同目標
航路設定器からの目標航路信号を受けて航走体の
運動を制御する制御器とをそなえ、上記航走体の
操縦運動性能データを内蔵し上記航路設定器から
の設定航路信号の入力と上記航走体の航路検出器
からの航路検出信号の入力とを受けてこれらの入
力信号と上記データとに基づき上記航走体の予測
航路を算出しうるシミユレータが設けられて、同
シミユレータに上記の設定航路と予測航路との差
分を上記目標航路設定器へ修正信号として供給し
うる航路修正器が設けられたことを特徴とする、
航路保持装置。 a route setting device capable of inputting a set route for the vehicle;
a target route setting device for setting a target route by correcting the set route signal from the target route setting device; and a controller for controlling the movement of the vehicle in response to the target route signal from the target route setting device. It has built-in maneuverability data of the vehicle, and receives input of a set route signal from the route setting device and input of a route detection signal from the route detector of the vehicle, and generates these input signals. A simulator is provided that can calculate a predicted route of the vessel based on the above data and the above data, and a route that can supply the difference between the set route and the predicted route to the simulator as a correction signal to the target route setter. It is characterized by being equipped with a corrector,
Route keeping device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9923386U JPS634800U (en) | 1986-06-28 | 1986-06-28 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9923386U JPS634800U (en) | 1986-06-28 | 1986-06-28 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS634800U true JPS634800U (en) | 1988-01-13 |
Family
ID=30967920
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9923386U Pending JPS634800U (en) | 1986-06-28 | 1986-06-28 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS634800U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01312412A (en) * | 1988-06-10 | 1989-12-18 | Fujitsu Ltd | Attitude monitoring apparatus for satellite |
| JP2017171263A (en) * | 2016-03-25 | 2017-09-28 | ヤンマー株式会社 | Ship |
-
1986
- 1986-06-28 JP JP9923386U patent/JPS634800U/ja active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01312412A (en) * | 1988-06-10 | 1989-12-18 | Fujitsu Ltd | Attitude monitoring apparatus for satellite |
| JP2017171263A (en) * | 2016-03-25 | 2017-09-28 | ヤンマー株式会社 | Ship |
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