Control on the motion of a cable ship

为了铺设海底电缆，电缆船需要具有精确跟踪的机动能力。本文研究了在风、电流等外界干扰下，利用犁式埋地机进行海底光缆敷设和埋地的电缆船自动跟踪控制系统，并利用最优调节器理论开发了该系统。为了找到有效实用的保持航迹控制参数，对航迹稳定性进行了分析。在此基础上，从保持航迹控制的角度对缆索船的操纵特性进行了仿真研究。主要的结束语可总结如下。(1)对缆船自动保持航迹控制系统的实际设计，不仅要选择航向角，而且要选择拖曳角。(2)缆索船的稳定性随海床土壤的变硬而变，随水深的增加，即随犁拖缆长度的增加而变。(3)但在风、流等外部扰动下，随着海底土壤变硬，电缆船的航向稳定性会受到航速降低等扰动的影响，因此电缆船的控制将变得越来越困难。(4)最优调节器理论算法对电缆船的航迹保持是有效的。这些方法对电缆船自动保持航迹控制系统的设计具有一定的指导意义。

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.