未知潮流環境中における海洋構造物の軌道制御

概要

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When a offshore structure is constructed from several part-structures, the construction operations, such as mating, positioning and transportation of those structures to the objective point, must be carried out under various disturbances. This paper presents learning trajectory tracking control when the structures are repeatedly transported along the objective trajectory under unknown steady state disturbance. Corresponding to premise mentioned above, a learning controller which consists of both feedback controller and feedforward controller is proposed. The controller improves its feedforward control force every time it tracks the same objective trajectory by learning unknown disturbances from the difference between the objective trajectory and previously realized trajectory. In this study, simulation and basin test, using a model of a semi-submersible are conducted. The learning controller showed good performance in both results of simulation and basin test in the field of unknown disturbances.
社団法人日本船舶海洋工学会の論文