船位保持の適応制御に関する研究

概要

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Dynamic positioning system (DPS) is the system to maintain vessels on a specified position and at a desired heading. The controller in DPS has been conventionally designed by PID control theory. The control gain of PID-based DPS is fixed, so it is necessary to tune the gain manually according to the change of wind, wave and current directions. In this paper, a self-tuning regulator (STR), one of adaptive control theories, is applied to DPS. The STR identifies the characteristics of a vessel's motion and determines the optimal control gain according to the result of the identification. The simulations are carried out for a semi-submersible platform in calm water to certify the performances of the designed DPS and to determine the system parameters. The results of simulations are satisfactorily acceptable compared with those of a conventional PID-based DPS.
公益社団法人日本船舶海洋工学会の論文
1990-03-25