船舶操縦運動の学習型フィードフォワード制御方式の実用化に関する研究(II) : 実船実験による目標値追従制御系の検証

概要

論文の詳細を見る
In the previous paper, the authors proposed the convenient design method of the shop manoeuvring control system with the learning feed-forward control technique, and showed by computer simulation that the system was effective to both the follow-up control system and the disturbance compensation system for a ship. Now, the authors have performed experiments to confirm the effectiveness of the systems for an actual ship and to put it to practical use. The experiments are performed mainly about the follow-up control of the ship with the bow thruster and with the rudder, respectively. The experimental results are discussed about the characteristics and the problems of the learning feed-forward control system, and also examined about the stability of the system for the actual ship with the root locus method. It is proved that the ship manoeuvring control systems with the learning feed-forward control technique are useful as a control system of an actual ship.
社団法人日本船舶海洋工学会の論文