最短時間制御を目指した自動定点停止操船に関する研究

概要

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Recently, some minimum time berthing problems have been numerically solved. However, there are some problems to realize the minimum time berthing maneuvering for actual ship applying these solutions. The largest one among them is that if a simple feed forward control to refer the given minimum time solution is used, the reliable realization of the minimum time berthing is impossible, because of error of maneuvering model and strong disturbance at sea. For compensating the difficulty, it is necessary to install with some feedback control law. In this paper, the development and application of tracking controller for realizing an automatic minimum time ship's berthing are discussed. In this controller, some appropriate waypoints are chosen from the given numerical solution in order to follow the result of minimum time berthing problem. Then, the controller guides a ship to the chosen berth point automatically in minimum time. Using a small training ship, actual sea tests were carried out validity of proposed controller.
社団法人日本航海学会の論文
2002-03-25