3위치 솔레노이드 밸브를 이용한 소형선박의 선수각 제어에 관한 연구

A study on heading angle control of a small ship with 3 position solenoid valve

The electro-hydraulic servo valve is broadly used in rudder control of a large ship. But, this valve is not compatible with a small ship for offshore fisheries, because a great cost is demanded. And, if a solenoid valve of on-off type is used in a small ship, there exists offset such that a good control performance can not be achieved. In this study, the rudder control algorithm to get over demerits of solenoid has been developed. The proposed controller which is designed to suit for long sample time is constituted of software timer, relay, and switch. And, the controller generates PWM wave as a control input signal. The validity of the controller is proved through heading angle control system which is composed of hydraulic steering gear, electro magnetic compass, micro processor, and etc.