ファジィ制御オートパイロットの自航実験への適用 : 平水中及び方向スペクトル波中

概要

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An autopilot system is necessary in order to perform self-propulsion free running test. The autopilot based on the theory like a PID control is generally used in the past. However, a tendency to apply the fuzzy theory to the process control in various industrial fields becomes popular recently. It is because of the fact that the fuzzy control is most similar with the control by an expert, who controls process by his intuition and experience. In this report, fuzzy sets is applied to design the autopilot system to perform the free running model experiment in towing tank with radio controlled maneuvering system. The experiment is carried out in course-keeping and course-changing mode both in still water and directional spectrum waves with fuzzy and PD control. Here three scale factors are used, which have relations with heading angle, turning rate and rudder angle respectively. Further a computer simulation using the M. M. G. model is compared with the experimental results, and a performance index is investigated to appraise the autopilot system and to determine the optimum scale factors.
社団法人日本船舶海洋工学会の論文