操縦運動制御問題における非線形影響に関する一計算

概要

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This report gives some examples of numerical solutions for the nonlinear optimal control problem for ship maneuvering motions. The optimization is made by minimizing a performance function made up of quadratic forms. In this report, course changing maneuvers for a tanker-type ship using a rudder and a bow thruster as the control inputs are examined. Comparing the nonlinear optimal solutions with the linear optimal solutions, influence of the nonlinear hydrodynamic derivatives on characteristics of the optimal control inputs are discussed. As a result, considerable differences appear in the time to reach the execution of rudder deflection to an opposite side and the maximum rudder angle after the opposite side deflection. It is considered that the tendency arises from difference in characteristics of course stability evaluated from the nonlinear equation and the linear equation.
社団法人日本航海学会の論文
1995-09-25