保針操舵の評価関数(その1) : 経済性

概要

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The main purpose of an auto-pilot is the course-keeping. The author has determined a performance index of course-keeping from the viewpoint of economic run. It consists of (1) path elongation due to detour, (2) speed reduction due to steering, and (3) fuel consumption increase per unit time due to steering. Full-scale experiments are carried out with M.S. Fukae Maru (360 Gross Ton.) to obtain the dynamic loss factors corresponding to (2) and (3). The performance index is given as follows : [chemical formula]where λ≑4〜5 for the shortest time of propulsion, and λ≑6〜7 for the minium of fuel consumption. The optimum control law is derived from the performance index and given below, [chemical formula]The control character is of PD-control. Some results of computer simulation are shown.
社団法人日本船舶海洋工学会の論文