大深度石油掘削船の自動位置保持装置に関する研究 : 位置保持制御系の高性能化の研究

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With ocean development projects extending to the areas of deep seas, a automatic control system called as DPS which keeps vessel at a position on the sea without mooring system has recently gained much attention of those concerned. Though as the control mode of the system the linear control mode known as PID is universally adopted, other methods also should be examined in order to give DPS more capability. In this paper, as a step towards the cause, a control mode combined of linear control mode and non-linear control mode is proposed and its basic characteristics obtained from the experiment using scaled model of vessel in a tank is presented. Some of the aspects of the result obtained from the experiment with the optimum on-off control method which is the main part of the proposed control mode are as follows; (1) For the still water, the optimum on-off control method gave better performance with regard to control energy, setting time and stability than PID mode. (2) For the waving water, with too long sampling period in regard to the wave period, the optimum on-off control method brought about gross fluctuation of out-put signal, but general performance was still considered better. (3) For the flowing water, the force action on the model by the current was canceled by means of feed-forward compensation leading to the performance similar to the one of the still water. (4) With the noise coming to the measured values of the vessel's position, the overshoot of the response as well as the fluctuation of out-put signal tended to be greater, which was seen improved by adopting a filter.
独立行政法人海上技術安全研究所の論文
1981-09-30

大深度石油掘削船の自動位置保持装置に関する研究 : 位置保持制御系の高性能化の研究

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