ウェザーベーン型自動位置保持システムの研究

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In this study, a simple dynamic positioning (DP) system which is called "weather vaning DP system" has been developed. This DP system uses only controllable pitch propeller of the main engine and bow thruster driven by the PID feed-back plus wind feed-forward control algorithm to position the reference point on the vessel at the specified point on the earth. The system possesses automatic weather-vaning properties, i.e. the heading of the vessel is not controlled by the system but governed by the environmental conditions. The onboard experiments of weather vaning DP system were carried out in December 1998 using the training ship Shioji Maru of the Tokyo University of Mercantile Marine. The main results of the experiments are as follows. (1) In weather vaning DP system, the stable equilibrium condition is obtained when the ship's bow points to the wind (or current) direction, which makes it possible to perform accurate DP with small thrust of the bow thruster. (2) The wind feed-forward control is very effective to reduce the lateral motion of the vessel in a strong wind condition. (3) The differential feed-back control is inevitable to perform the stable DP. (4) The stability of weather vaning DP deteriorates as the reference point is moved aft from the bow ; the DP is stable when the reference point is put forward of the bow. The experiments to pursue the specified point moving on a square and semicircles were also carried out, and it was found that the control algorithm of weather vaning DP was applicable to the automatic tracking.
1999-09-25

ウェザーベーン型自動位置保持システムの研究

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