操縦運動の最適制御計算における制御手段の応答遅れ影響

概要

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This report deals with numerical simulation concerning an optimal control problem for parallel course change maneuver of a tanker-type ship equipped with a rudder and a bow thruster. The computation for the control forces determined on the basis of the linear optimal regulator theory is made by taking account of magnitude constraint on the control input. And comparison is made between the control force with saturated state and the solution of the time optimal control problem. In the previous report, however, effect of the controller time lag on generating the control force was neglected. In the present report, features of similar behavior of these control forces are examined by considering the time lag effect. As a result, it is found that the control force based on the optimal regulator theory approaches to the solution of the time optimal control problem as the value of time constant of the controller increases.
社団法人日本航海学会の論文
1996-09-25