Patent ID: 11947364
Assignee: MITSUBISHI ELECTRIC CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC G  B | IPC B  G

Claim 9:
10. The vessel anti-rolling control apparatus according to claim 8, further comprising a yaw-angular-velocity detector that outputs a yaw-angular-velocity signal indicating a rotation angular velocity around a vertical axis passing through the gravity center of the vessel,
wherein the azimuth controller generates a yaw-angular-velocity command signal indicating a target yaw angular velocity, based on a yaw-angle error that is an error between the azimuth command signal and the yaw-angle signal, and
wherein the steering-angle controller determines the first gain, based on a yaw-angular-velocity error that is an error between the yaw-angular-velocity command signal and the yaw-angular-velocity signal.