学習型フィードフォワード制御方式による自動着桟制御システムの設計

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In previous papers, the author demonstrated the application of the learning feed-forward control (LFFC) system for multivariable systems and the effectiveness of the LFFC system by on-board experimental results. The LFFC system was thus confirmed to be suitable for use as the control system since it followed the desired values and compensated for continuous variations in wind disturbance. In this paper, focusing on the approach and berthing control, which is one of the most difficult problems in automatic maneuvering, the author attempts to design an approach and berthing control system which can act as the ship operation support system. The feasibility and the problems of this control system are discussed based on computer simulation. If considered from the viewpoint of control, then it can be thought that approach maneuvering is a tracking control problem, whereas berthing maneuvering is a set-point control problem. Accordingly, it is appropriate for the control method to be changed at each maneuvering stage. The author herein discusses whether or not the LFFC system is suitable for use as the automatic approach and berthing control system, by itself. The computer simulation results show that the automatic approach and berthing control system based on the LFFC system is adaptive for changes in the dynamic characteristics of the object ship at each maneuvering stage, however, it is necessary for further improvements to be made in the wind compensation system.
社団法人日本船舶海洋工学会の論文

学習型フィードフォワード制御方式による自動着桟制御システムの設計

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