ジョイスティック操船装置と着離桟操縦性能について

概要

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Total mission of transportation is not completed without safe and reliable berthing. In order to evaluate the berthing maneuverability, total system including ship, characteristics of actuators and control system must be considered. The control system that require the maximum ability of ship characteristics including actuators is necessary. In this paper, at first, optimal controller that realize the required condition mentioned above, are developed. Proposed control system use the Joy-stick controller and fuzzy control theory, this system is easy to handle the ship pure sway motion for any direction such as pure transverse drifting that is often required at the berthing maneuver. Second step, berthing maneuverability is evaluated using proposed controller from view point of ship type, actuator type and its ability. Following results are obtained; ・The pure sway ability in forward direction depend on the bow thruster power, and ability in afterward depend on the rudder force. ・The pure sway motion using conventional actuators may be limited under wind disturbance, in order to realize the required ability, it is necessary to decide the actuator power based on ship characteristics and required condition.
社団法人日本船舶海洋工学会の論文
1995-03-25