Control on the motion of a cable ship

电缆船的运动控制

• 批准号: 63460148
• 负责人: KIJIMA Katsuro
• 金额: $ 4.54万
• 依托单位: Kyushu University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (B)
• 财政年份: 1988
• 资助国家: 日本
• 起止时间: 1988 至 1989
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-63460148/
• 关键词: Ship control; Ship motion; Towing; Cable ship; Automatic track-keeping control; Optimal regulator theory; Optical fiber cable; Course stability; ケ-ブル布設埋設; ケーブル船; 船の針路保持; 船の操縦性; 船体運動; 制御; 針路安定性; 埋設機

A cable ship is required to have the ability to maneuver for precise track-keeping for laying the submarine cable. Especially, she has to work with the utmost care for laying an optical fiber cable be in great demand recently: This research deals with an automatic track-keeping control system of a cable ship during laying and burying of the submarine cable by means of a plow burying machine under external disturbances such as wind and current, developed by the optimal regulator theory. In order to find the effective and practical parameters for track-keeping control, the course stability analysis is examined. Furthermore the maneuvering characteristics of a cable ship are discussed by simulation study on the view point of track-keeping control.The major concluding remarks can be summarized as follows.(1)It will be very useful to pick not only the heading angle but also the towing angle up towards the practical design for an automatic track-keeping control system of a cable ship.(2)A cable ship will be stable as the soil of sea bed becoming hard, and also will become stable as increasing depth of water, that is, as increasing length of tow line of a plow.(3)But under external disturbances such as wind and current, as soil of sea bed becoming hard, it will be becoming difficult to control a cable ship, because the course stability of a cable ship will be affected by the disturbances as decreasing ship speed.(4)The algorithm of an optimal regulator theory will be effective for track-keeping of a cable ship.These approach will be useful for the design of automatic track-keeping control system of a cable ship.

电缆船需要具有机动能力，以精确跟踪铺设海底电缆。尤其是最近急需的光缆铺设工作，她必须格外小心：本研究采用最优调节器理论开发的犁埋机，在风、水流等外部干扰下，利用犁埋机在铺设和埋设海底电缆时，电缆船的自动跟踪控制系统。为了找到有效且实用的航迹保持控制参数，对航向稳定性分析进行了检验。此外，从跟踪控制的角度，通过仿真研究讨论了电缆船的操纵特性。主要结论可概括如下：(1)不仅选择航向角，而且选择拖曳角，对于电缆船自动跟踪控制系统的实际设计非常有用。(2)随着海床土壤变硬，电缆船将变得稳定，并且也将变得稳定。 随着水深的增加，即犁拖缆长度的增加。（3）但在风和海流等外部干扰下，随着海床土壤变硬，电缆船的控制将变得困难，因为随着船速的降低，电缆船的航向稳定性将受到干扰的影响。（4）最优调节器理论的算法对于电缆船的跟踪保持将是有效的。这些方法将有助于 电缆船自动跟踪控制系统设计

项目成果

硴崎貞雄,貴島勝郎,田中進: "ケ-ブル布設船の針路保持に関する研究(第一報)" 西部造船会会報. 77. 125-133 (1989)

Sadao Kubasaki、Katsuro Kijima、Susumu Tanaka：“电缆敷设船航向维护研究（第一份报告）”西方造船师协会公报 77. 125-133 (1989)。

Sadao KAKIZAKI, Susumu TANAKA, He Qing: "On the track-keeping performance of a cable ship" MARSIM & ICSM 90.

Sadao KAKIZAKI、Susumu TANAKA、何青：“论电缆船的轨迹保持性能” MARSIM

Kakizaki,S.,Tanaka,S.,He,Qing: "On the track-keeping performance of a cable ship" MARSIM & ICSM 90. (1990)

柿崎S.、田中S.、何庆：“浅谈电缆船的跟踪性能” MARSIM

Sadao KAKIZAKI, Katsuro KIJIMA, Susumu TANAKA: "On the course stability of a cable ship (2nd Report)" Trans.of the West-Japan Society of Naval Arch., No.78, pp.113-128, 1989.

Sadao KAKIZAKI、Katsuro KIJIMA、Susumu TANAKA：“论电缆船的航向稳定性（第二次报告）”Trans.of the West-Japan Society of Naval Arch.，第 78 期，第 113-128 页，1989 年。

Sadao KAKIZAKI, Katsuro KIJIMA, Susumu TANAKA: "On the course stability of a cable ship (3rd Report)" Trans.of the West-Japan Society of Naval Arch., No.79, pp. 77-90, 1990.

Sadao KAKIZAKI、Katsuro KIJIMA、Susumu TANAKA：“论电缆船的航向稳定性（第 3 次报告）” Trans.of the West-Japan Society of Naval Arch.，第 79 期，第 77-90 页，1990 年。