船舶操縦運動の学習型フィードフォワード制御方式の実用化に関する研究(III) - 実船実験による風外乱補償制御系の検証 -

概要

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In a previous paper, the author showed experimental results of a ship manoeuvring control system using an actual ship, confirming the effectiveness of a learning feed-forward control system (LFFC). The experiments were mainly concerned with the follow-up control of the ship with either the bow thruster or the rudder. However, in experiments on follow-up control with the bow thruster, response had a tendency to oscillate after 8001000 sec. from the start of the experiment.<BR>In this paper, the stability conditions of an inverse system in the LFFC are discussed, then actual ship experiments using the bow thruster with the stabilized LFFCs for follow-up control to the desired heading angle and for compensation control for wind disturbance were carried out.<BR>The experiments proved that the LFFCs for follow-up control and compensation control can be stabilized by the stabilized inverse system and that control systems with the LFFCs are useful in the manoeuvring motion control of an actual ship.
社団法人日本船舶海洋工学会の論文