Study on the Practical Use of Learning Feed-Forward Control System to Ship Manoeuvring Motion

学习型前馈控制系统在船舶操纵运动中的应用研究

• 批准号: 08555247
• 负责人: OGAWARA Yoichi
• 金额: $ 3.01万
• 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: 1996
• 资助国家: 日本
• 起止时间: 1996 至 1997
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08555247/
• 关键词: Ship; Maneuvering Motion; Learning Control; Practical Use; Learning Equation; Inverse Dynamics Model; Real Ship Test; Feed-Forward Control

The fruits of this study1.The control system needs the inverse dynamics model, and it can be obtained with the identification of the ship maneuvering data.(1) The controlled object in the feedback loop can be identified suitably with the prediction error method and ARMX model.(2) The inverse dynamics model can be obtained precisely with the continuous identification, and it is adaptive to the change of the ship characteristics.2.The coefficients of the learning equations can be gained effectively with the suitable grouping of the inverse dynamics model. And the computer aided system for the automatic selection of the coefficients of the learning equations could be designed.3.It is confirmed that this learning feed-forward control system will be put into practical use with theresult of the real ship test.The future development of this studyIt is prospected that the control system studied here can be put into practical use sufficiently, and so it must be tried to inform this system to a shipbuilding company and a shipping interests.

本文的研究成果：1.控制系统需要逆动力学模型，可以通过对船舶操纵数据的辨识得到。(1)预测误差法和ARMX模型可以较好地辨识反馈回路中的被控对象。(2)通过连续辨识可以得到精确的逆动力学模型，并且能够自适应船舶特性的变化。2.通过对逆动力学模型进行适当的分组，可以有效地获得学习方程的系数。3.根据实船试验的结果，确定了该学习前馈控制系统将投入实际应用，并展望了本研究的发展方向。展望了本文所研究的控制系统可以充分应用于实际，因此必须尝试将该系统告知造船公司和航运利益方。

项目成果

岩本 才次: "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(II)-実船実験による目標値追従制御系の検証-" 日本造船学会論文集. 第183号. 1-7 (1998)

Saiji Iwamoto：“船舶操纵运动的学习型前馈控制系统的实际应用研究（二）——通过实船实验验证目标值跟踪控制系统——”日本造船学会汇刊第183期1-。 7 (1998)

小川原 陽一: "船舶の操縦運動制御システムの新しい設計法の試み" 西部造船会会報. 第94号. 101-109 (1997)

Yoichi Okawahara：“船舶操纵运动控制系统的新设计方法的尝试”西方造船师学会通报第 94 期。101-109（1997 年）。

Yoichi Ogawara: "A Try of Nwe Design Method for Ship Manoeuvring Motion Control System" Transaction of the West-Japan Society of Naval Architects. No.94. 101-109 (1997)

Yoichi Okawara：“船舶操纵运动控制系统的 Nwe 设计方法的尝试”西日本造船学会会刊。

Seiji Iwamoto: "A Ship Manoeuvring Control System to Compensate for the Influence of Current, Wind, and Wave Disturbances" Memoirs of the Faculty of Engineering, Kyusyu University. VoL.57, No.4. 133-145 (1997)

Seiji Iwamoto：“一种补偿海流、风和波浪扰动影响的船舶操纵控制系统”九州大学工学部回忆录。

Seiji Iwamoto: "Studies on the Practical Use of Learning Feed-Forward Control System to Ship Manoeuvring Morion (II) - Experimental Verification of Follow-Up Control System -" Jornal of the Society of Naval Architects of Japan. 183. 1-7 (1998)

Seiji Iwamoto：“学习型前馈控制系统在船舶机动 Morion 中的实际应用研究（II）-随动控制系统的实验验证 -”日本造船学会杂志。