内航商船によるアプローチ操船自動制御システムの研究

概要

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In maneuvering domestic cargo ships, most of the approach shiphandling for berthing is conducted solely by masters without the assistance of the crew, which can result in the increase of their workload and stress. Authors are developing a support system for approach. One of the functions is an automatic approach control function. First, an approach plan and a maneuvering model for actual ship experiment of trial ship "Shinei Maru" were made. The approach plan that is an aim of automatic control must be easy to understand by masters. The plan was made by actual approach data that "Shinei Maru" was approached to Shibaura Quay. To apply to many domestic cargo ships, a simple maneuvering model calculated by actual data was supposed. But the error of the simple model is large was expected. So in automatic approach control, an order rudder angle, an order CPP pitch angle and a ship's motion using the simple maneuvering model were calculated. An aim speed was adjusted by difference of an actual speed and the calculated speed. This effect was confirmed by actual ship experiment.
2008-03-25