On a Performance Criterion of Autopilot Navigation

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  • On a Performance Criterion of Autopilot

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A performance criterion of autopilot navigation is a long-discussed topic but remains still fresh. It is necessary to carry out model experiments to evaluate the criterion and obtain the weighting factors of the criterion. But because accuratc measurement of longitudinal hydrodynamic force was difficult, most researches ended in qualitative approach. In the present paper, we derive the performance criterion from the concept of energy increase due to yawing. The criterion is found to consist of two parts ; elongation of sailing distance and thrust increase due to steering and yawing motions. The former is proportional to rms value of course deviation and the latter, depending upon ship dynamics, is given by rms values of rudder angle and rate of turn. Each weighting factor to rms values is obtained by model experiments. Some comments on the estimation and the scaling-up methods of derivatives are given.

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