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

概要

論文の詳細を見る
This report deals with influence of employing Nomoto's first-order equation on solutions of an optimal control problem concerning ship's maneuvering motions. Characteristics of time optimal control for course changing maneuver are discussed for a tanker-type ship and a car-ferry ship. Numerical calculations of the optimal rudder behavior are performed by changing rudder deflection rate systematically. A comparison is made between solutions obtained by the first-order equation and those obtained by a higher order equation. For the car-ferry ship, the solutions obtained by two different procedures mentioned above almost agree. However, in the case of the tanker, a large difference in these solutions is recognized. As a result, it is indicated that course-keeping ability has a considerable effect on a degree of the difference. Further, it is pointed out that the descrepancy is related to the value of T_1・T_3 which is evaluated from the steering quality indices.
公益社団法人日本航海学会の論文
1998-03-25