Control on the motion of a cable ship

铺设海底电缆要求电缆船具有精确的航迹保持能力。特别是，她必须尽最大努力铺设光纤电缆是在最近的需求量很大：本研究涉及的自动跟踪控制系统的电缆船铺设和埋设过程中的犁埋机在外部干扰下，如风和电流，开发的最优调节器理论。为了找到有效实用的航迹控制参数，对航向稳定性进行了分析。并从航迹保持控制的角度对电缆船的操纵特性进行了仿真研究。(1)It这对电缆船自动航迹控制系统的设计不仅是航向角的选取，而且是拖航角的选取都是非常有用的。(2)A随着海床土壤的变硬，电缆船将变得稳定，随着水深的增加，即随着犁拖缆长度的增加，电缆船也将变得稳定。（3）但在风、流等外界扰动下，随着海床土壤的变硬，缆索船的操纵将变得困难，因为缆索船的航向稳定性将受到随船速降低而产生的扰动的影响。（4）最优调节器理论的算法对缆索船的航迹保持是有效的，这些方法对缆索船航迹自动控制系统的设计有一定的参考价值。

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.