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    • 2. 发明授权
    • Adaptive autopilot
    • 自适应自适应
    • US5179905A
    • 1993-01-19
    • US794752
    • 1991-11-19
    • Robin C. HossfieldJoseph R. Adamski
    • Robin C. HossfieldJoseph R. Adamski
    • G05D1/02
    • G05D1/0206
    • A marine autopilot having adaptive gain control. The autopilot operates under a proportional plus derivative (PD) control law during course change operation (i.e. when the difference between a desired course and the actual vessel heading is greater than a predetermined value) and a proportional plus integral plus derivative (PID) control law during course keeping operation (i.e. when the difference between the desired course and the actual heading is less than the predetermined value). A gain value associated with the derivative term of the PID control law is adaptively controlled as a function of the roll frequency of the vessel. More particularly, since the damping provided by the derivative term is ineffectual in maintaining the desired course when the vessel is heading into the seas (i.e. when the roll frequency is greater than a predetermined value), the derivative term is nulled in such conditions. In this way, ineffectual rudder movement and thus wear on the rudder and associated drive apparatus is reduced.
    • 具有自适应增益控制的海洋自动驾驶仪。 自动驾驶仪在航向变更操作期间(即当所需航程和实际船舶航向之间的差异大于预定值)和比例加积分加微分(PID)控制律 在课程保持操作期间(即当期望课程与实际课程之间的差异小于预定值时)。 与PID控制律的微分项相关联的增益值作为容器的滚动频率的函数被自适应地控制。 更具体地说,由于由导数项提供的阻尼在船舶进入海洋时(即,当滚动频率大于预定值)时保持期望的航向是无效的,所以在这种条件下,导数项被置零。 以这种方式,舵和相关联的驱动装置的无效舵运动并因此磨损减少。