台車自動追尾による自由航走模型船の波浪中6自由度船体運動計測手法の研究

概要

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Six-degree of freedom motion of a free-running model ship in waves was measured. The experiment was carried out using an auto-tracking system of the moving carriage in the Ocean Engineering Basin, National Maritime Research Institute. The auto-tracking system consists of a CCD camera placed on the center of the carriage, target markers on a model ship, an image analysis system and a feed-back controller of the carriage. Horizontal position within the basin and direction of the turntable equipped on the carriage are controlled to track the model ship position and heading direction. The feed-back system is based on a so-called PID controller with additional some parameters. The characteristics of the model ship motion in waves are discussed. Effects of these parameters on measured data properties were investigated and suitable parameters for the measurement are discussed. The step response test is applied to the auto-tracking system for investigating the inherent control properties of the carriage. Using analyzed properties, simulation program for the tracking system is developed and its usage for investigating effect of control parameters is confirmed. An optical motion measurement system is also put to the test to see its applicability to this sort of tank tests.
独立行政法人海上技術安全研究所の論文
2008-06-25