A Modified Self-tuning Pole Assignment Typed Autopilot System

概要

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The method of designing a pole assignment typed autopilot for ships in consideration of the rudder motion was first proposed by D.H. Nguyen et al. There has existed an issue of "dividing by zero" or "singularity" arising from the control algorithm because one of parameters became zero during estimation. As a result the autopilot was unstable. A solution to circumvent this issue was that the parameter becoming zero was assumed a constant prefixed by the rule of thumb, the pole assignment typed autopilot gave a relatively good performance to keep and change the ship's course. However, such a solution has not been the best one as expected. The authors present two modified algorithms to circumvent the issue of singularity and experimental results aboard the training ship in this paper. A brief description of REALoop used to execute the control programs on Pentium-PC is made.
社団法人日本航海学会の論文
2000-03-25