船速変化を考慮した船の数学モデルの一設計とシミュレーション

概要

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In this paper, the authors propose a new mathematical model for ship autopilots which aims at the course changing mainly. On the design of autopilots, a model which has resemblance to the real steering motion of the ship and available easily to construct a controller is needed. The reason is that the assumed model is very effective for the actual response of the autopilot system. For above need, the authors introduce a new mathematical model for ships, adding physical consideration and making reference to the sea trial results concerning with dynamic/static characteristics. The new one has the following features. : a) Inclusion of NOMOTO model b) Adding investigation of variable velocity c) Suitable approximation of the steering mechanism d) Eeasiness of getting sea trial data needed for tuning up the model parameters e) Module type structure f) Clarity of physical meaning To confirm the superiority of the new model, some simulation results are shown comparing with that of conventional NOMOTO model.
日本シミュレーション学会の論文
1991-09-15