Control on the motion of a cable ship

在铺设海底电缆时，要求电缆船具有精确跟踪的操纵能力。尤其是最近对光缆的铺设要求极高：本研究利用最优调节器理论研制了一种利用犁埋地机在风、流等外界干扰下对光缆进行铺设和埋设过程中的自动跟踪控制系统。为了寻找有效和实用的航迹控制参数，对航向稳定性分析进行了研究。从航迹控制的角度对电缆船的操纵特性进行了仿真研究。主要结论如下：(1)对于实际的电缆船自动航迹控制系统的设计，不仅要考虑航向角，还要考虑拖曳角。(2)电缆船会随着海底土壤变硬而稳定，也会随着水深的增加而稳定，也就是随着犁拖绳长度的增加而稳定。(3)但在风、流等外部扰动下，随着海底土壤变硬，缆船的航向稳定性会受到航速降低的扰动的影响，使得缆船的控制变得困难。(4)最优调节器理论的算法对于缆船的航迹保持是有效的，该方法对缆船自动航迹控制系统的设计具有一定的参考价值。

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.