Research on Ship Motions and Their Control in Waves

关于波浪中船舶运动及其控制的各种问题，我们从理论和实验两个方面进行了研究。主要研究结果如下：1)设计了能在拖曳槽内适当位置产生任意波形和频谱的造波器。并根据设计进行了实现。2)在拖船上的个人电脑与造浪器之间建立造浪器远程控制系统。所有设置和控制都通过系统令人满意地完成。3)研究了各种产生不规则波的方法，并将其应用于造波器。在甲板上做了一些实验来估计“蓝海”。对蛇形（多柱塞式）造波器进行了理论计算和仿真研究。4)提出了远程测控系统，用于后续海倾覆、横摇稳定等模型试验。该系统利用安装在模型船上的微型计算机、模型船上的垂直陀螺仪、拖曳车上的个人计算机和两台摄像机。5)提出了横波型分析方法，并将其应用于非定常波场分析。该方法适用于船舶波浪阻力增量的估算。6)通过多船体平台实验，对所谓的波浪阻尼进行了充分的研究。7)将模糊控制和神经控制应用于船舶的升沉和横摇控制，主要从船舶的稳定性出发，并与PD控制进行了比较。

On the various problems concerning to the ship motions and their control in Waves, we have engaged in both from theoretical and experimental aspects. The followings are the main results obtained through these researches:1) The design of a wave maker which is intended to produce any wished wave form and spectrum at appropriate point in a towing tank, is done. The implementation was also done according to the design.2) A remote control system of the wave maker was made between a personal computer on the towing carriage and the wave maker. All settings and control are satisfactorily done through the system.3) Various methods producing irregular waves were investigated and applied to the wave maker. Some experiments were done to estimate "blue seas" upon a deck. Snake type(multi-plunger type) wave maker was also investigated mainly from the theoretical calculation and simulation.4) Remote control and measurement system was proposed to do various model tests such as capsizing in the following seas and roll-yaw stabilization stem. The system is utilizing a microcomputer installed in the model ship, vertical gyro also in the model ship, personal computers on the towing carriage and two video cameras.5) Transverse wave pattern analysis method was proposed and applied to analyze unsteady wave field. This method my be applicable to estimate wave resistance increase of a ship.6) So-called wave damping was fully investigated by experiments using multi-hull platform.7) Fuzzy control and neuro control were applied to heaving and rolling control of a ship, mainly from its stability with comparizon of PD control.