船舶操船制御系設計に関する研究

概要

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In designing a ship control system, the development of a versatile system is well anticipated for various ship and actuator type application. The authors develop a versatile control system based on nonlinear actuator force distribution method, and the effectiveness is confirmed by numerical simulation and tank test. In addition to reference control and nonlinear control functions, the disturbance compensation control for both determinate and undeterminate disturbances and a joystick manupulation function can be easily applied, so that the ship has such various control modes as auto speed keeping, auto piloting, auto position keeping, auto tracking, and berthing. The developed system has a function expandability and a wide application for ship control system design. In the paper, the control logic, numerical simulation results and a part of tank tests are shown.
社団法人日本船舶海洋工学会の論文