操縦運動の最短時間制御入力に及ぼす1次系近似の影響 : 解析式に基づく検討

概要

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This report deals with influence of employing Nomoto's first-order equation on solutions of an optimal control problem concerning ship's maneuvering motions. Rudder behavior resulting from time optimal control is discussed for course changing maneuver. In the previous report, it was shown that the first switching time of rudder angle obtained from the second order equation almost agrees with that obtained from the first order eqation. However, the characteristic was known from numerical calculation using the iterative procedure. In this study, the same result for the switching time is obtained using analytical equations describing time-optimal trajectories in the state space. As a result, the characteristic seems to be a general property regardless of calculation procedures. Therefore, it may be said that the first order equation can be used instead of the second order equation in predicting the switching time approximately.
公益社団法人日本航海学会の論文
2002-03-25