あいまい制御による航路交差部の通過時刻・速度調整

概要

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In congested waters, traffic control will be necessary to avoid collisions. The time and speed of each ship at waterway intersections should be specified by the traffic control center. The acceleration and deceleration characteristics of ships are non-linear, and ship's speed slows down when turning. These factors make it difficult to control the propeller speed to meet both the specified time and ship velocity at waterway intersections. Fuzzy control theory is very useful to control a system with multiple objectives like this. No mathematical model of the system is necessary in fuzzy control. The knowledge of experienced human operators expressed like "If the ship velocity is high, then the propeller speed should be reduced. are translated directly into fuzzy control laws. In this paper, the fuzzy control laws of propeller speed to adjust the ship time and velocity at waterway intersections are developed. The control laws are composed of 3 categories which are the time adjusting mode, the speed adjusting mode and the mode transfer. Each control law was built up rather intuitionally. Computer simulations were carried out to show that both ship time and speed were adjusted with good accuracy by these controls. It was also shown that fuzzy control was helpful to increase the smoothness of changes in propeller speed.
社団法人日本船舶海洋工学会の論文