Patent ID: 9340270
Filing Date: 2016-05-17
CPC Classification: B63H,G05D

Claim Text:
1. An automatic steering device comprising: a drift angle acquisition component configured to acquire a drift angle, with the drift angle being a deviation angle of a heading with respect to a target heading; a turning angular velocity acquisition component configured to acquire a turning angular velocity, with the turning angular velocity being a rate at which the drift angle changes; a controller configured to calculate a rudder angle based on at least the drift angle and the turning angular velocity, the controller being further configured to output the rudder angle as an ordered rudder angle; an angular velocity inversion timing acquisition component configured to acquire an angular velocity inversion timing, with the angular velocity inversion timing being a timing at which the turning angular velocity changes from a direction in which a divergence of the drift angle from zero increases to a direction in which the divergence decreases; a steering stop command component configured to order a steering stop based on the angular velocity inversion timing; and a steering gear controller configured to change a rudder angle of a steering gear based on the ordered rudder angle, the steering gear controller being further configured to control the rudder angle of the steering gear to maintain the rudder angle unchanged while a command of the steering stop has been received from the steering stop command component.