非干渉制御による船舶の操縦運動制御システムの設計に関する研究

概要

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PID feedback control systems and optimal regulators have been applied to the control systems for the manoeuvring motion of ships. The PID feedback control theory is easy to understand, however, it is difficult to design a multi-variable control system systematically witt the PID feedback control theory. On the other hand, it is not so easy to design the control system with the optimal regulator in order to satisfy the required specifications in controllability. So the ILQ design method has been proposed, and the problems mentioned above have been solved. But it is rather difficult for a general designer to understand this theory. The authors previously proposed the control system design method for the one input-output system with the root locus to the required specifications in controllability. In this time, on the basis of the former paper, the authors propose a rational and clear design method of the multi-variable control system. And it is recognized that this method is able to obtain the same controlability as the ILQ design method, with the decoupling control theory and the root locus.
社団法人日本船舶海洋工学会の論文
1998-09-04