船舶の操縦運動制御システムの新しい設計法の試み

概要

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In order to satisfy the demand for improvement in controllability, the optimal regulator is used in design for ship manoeuvring motion control system. However, there are some problems. For instance, it is not easy to decide the required specifications of the optimal regulator for the controllability. Now by the ILQ servo system design method, these problems are almost solved. But it is difficult to understand the ILQ servo system design method and to put it to practical use at the stage of ship design section in the shipbuilding industries. On the other hand, at present the merit of classical control theory has been evaluated again, and it tends to reflect the latest theory like H_∞ control theory. Against the background mentioned above, this paper presents the try to design the feedback control system with the root locus method that is famous in the classical control theory. The system has three feedback variables i.e. heading angle (ψ), heading angle velocity (γ) and drift angle (β) as well as the optimal regulator, and it is 1 input-output system. That is, input rudder angle (δ), output heading angle (ψ), respectively. As a result, a rational method of feedback gain decision for the system is obtained, and the relation between feedback gains and the derivatives of equations of ship motion is found.
社団法人日本船舶海洋工学会の論文
1997-09-04