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

1.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，得到了机动运动的数学模型.补偿系统风扰动简易估算数学模型的研究通过前面的模型试验结果可以确定，采用Isherwood估算公式可以准确、方便地估算出风对船舶的压力和力矩.风干扰补偿系统的性能研究（1）证实了由于学习函数的作用，利用逆传递函数的线性补偿系统可以补偿干扰的影响。(2)很明显，由于前馈控制系统，干扰影响的补偿可以快速进行.多扰动（风、潮流）补偿系统的研究（1）证实了多扰动的影响可以得到很好的补偿而不相互作用。(2)可以获得确定适合的学习方程的许多系数的方法，并且即使对于多个控制变量和多个干扰的情况，也可以快速地进行学习。

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.