非干渉制御による自動着桟制御システムの設計

概要

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Automatic control systems of ships have actively been investigated from verious viewpoints in many institutions since 1980's. However, there are many problems to develop the system, for instance, problems of harbor facilities, variety of ships and its dynamic characteristics, disturbances, control systems, and so forth. In this study, a design method of the automatic control system that is combined with decoupling control, one of results of the modern control theory, and the conventional control theory is investigated. As an example, by selecting propeller and bow and stern thrusters as manipulated variables, ship speed, lateral shift displacement and heading angle as controlled variables, the design method of an automatic control system for berthing manoeuvring is proposed. Its effectiveness is examined by computer simulation, and the possibility and problems as an automatic control system of berthing manoeuvring are discussed.
社団法人日本航海学会の論文
1999-09-25