Study on the Automatic Maneuvering System of a Ship for the Disturbance

船舶抗扰自动操纵系统的研究

• 批准号: 07455398
• 负责人: OGAWARA Yoichi
• 金额: $ 2.5万
• 依托单位: KYUSHU UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 1995
• 资助国家: 日本
• 起止时间: 1995 至 1996
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-07455398/
• 关键词: Ship; Maneuvering Motion; Control System; Follow-up Control; Learning Control; Disturbance Compensation; Feed-forward Control; Inverse Transfer Function; 制御; 外乱; 風; 逆システム; 学習

1. Study on the mathematical model for the influence of the wind disturbance to the maneuvering motionThe mathematical model was obtained which was added the influence of the wind disturbance to the MMG model.2. Study on the mathematical model for the simple estimation of the wind disturbance in the compensation systemIt could be made sure by the result of the model experiment done before ago that the pressure and the moment to the ship from the wind could be estimated precisely and easily with the Isherwood estimation expression.3. Study on the performance of the wind disturbance compensation system(1) It was confirmed that the influence of the disturbance could be compensated with the linear comensation system using the inverse transfer function due to the learning function.(2) It became clear that the compensation of the distrbance influence could be performed quickly due to the feed-forward control system.4. Study on the compensation system to the plural disturbances (ex.wind and tidal current)(1) It was confirmed that the influence of the plural disturbances could be compensated excellently without interaction.(2) The method to decide the many coefficients of the learning equations suitable could be obtained, and it became possible that the learning could be carried out quickly even for the case of plural control variables and plural distrurbances.

1. 2.风扰动对机动运动影响的数学模型研究在MMG模型中加入风扰动的影响，得到了其数学模型。补偿系统中风扰动简单估计数学模型的研究以前的模型实验结果表明，用Isherwood估计表达式可以准确、方便地估计出风对船舶的压力和力矩。风扰动补偿系统性能的研究(1)由于学习函数的存在，证实了扰动的影响可以用线性补偿系统利用逆传递函数进行补偿。(2)由于采用了前馈控制系统，可以快速地对分布影响进行补偿。多干扰（如风和潮流）补偿系统的研究(1)证实了多干扰的影响可以在不相互作用的情况下得到很好的补偿。(2)获得了确定适合学习方程多个系数的方法，使得在多个控制变量和多个干扰的情况下也能快速进行学习成为可能。

项目成果

小川原 陽一: "風外乱補償機能を付加した船舶操縦運動の学習型フィードフォワード制御方式の基礎検討" 日本造船学会論文集. 第178号. 321-328 (1995)

小川原洋一：“具有风扰补偿功能的船舶操纵运动的学习前馈控制系统的基础研究”日本造船学会学报第178. 321-328号（1995）。

小川原 陽一: "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(I)" 日本造船学会論文集. 第180号. 705-712 (1996)

小川原洋一：“船舶操纵运动学习前馈控制方法的实际应用研究（一）”日本造船学会学报第 180. 705-712 号（1996 年）。

Yohichi Ogawara: "Basic Study on the Compensation Control System of the Wind Disturbance Influence to the Ship Manoeuvring Motion with the Learning Feed-Forward Control" Journal of the Society of Naval Architects of Japan. Vol.178. 321-328 (1995)

小河原洋一：“基于学习前馈控制的风扰对船舶操纵运动影响的补偿控制系统的基础研究”日本造船学会会刊。

Yohichi Ogawara: "Studies on the Practical Use of Learning Feed-Forward Control System to Ship Manoeuvring Motion (1)" Journal of the Society of Naval Architects of Japan. Vol.180. 705-712 (1996)

小河原洋一：“学习型前馈控制系统在船舶操纵运动中的实际应用研究（1）”日本造船学会杂志。

小川原 陽一: "風外乱補償機能を付加した船舶操縦運動の学習型フィードフォワード制御方式の基礎検討" 日本造船学会論文集. 178巻. 321-328 (1995)

小川原洋一：“具有风扰补偿功能的船舶操纵运动的学习前馈控制系统的基础研究”日本造船学会汇刊178。321-328（1995）。