A STUDY ON SHIP MANEUVERABILITY ESTIVATION AND AUTOMATIC NAVIGATION BASED ON A PREDICTIVE CONTROL

本研究的目的是开发船舶位置控制和自动导航系统。但综合考虑多方面因素，开发一套船舶位置控制系统仍然是一件很困难的事情。因此，我们从港口航行特别是靠泊的情况开始研究，这对导航员来说是一种负担，在这种情况下，自动定位的导航辅助系统是不同的有效的。但目前的俘获模型试验技术存在低速试验困难的问题。因此，我们进行了自由运行测试，而不是俘虏模型测试。首先，我们进行了实船试验。由于指出了自由运行试验在分析中存在的问题，因此没有引起重视。在一次实船测试中，我们利用动态GPS这一高精度的卫星定位系统开发了实验系统。在船模试验中，我们研制了一套带有视频定位分析仪和风机的船模拖轮运动实验系统；在船位控制方面，我们研究了神经网络控制系统，并对靠泊进行了仿真，设计了自动靠泊控制系统。接下来是多方面的泛化。最后，我们研究了将该位置控制系统装备成导航支持系统的可能性。

The aim of This study is development of ship position control and automatic navigation system. But it is still difficult to develop a ship position control system considered many aspects. So we started this study from the case of navigation in harbor especially berthing, that is a burden to a navigator, and in that case the navigation supporting system by automatic positioning is vary effective.Captive model test was usually carried out to estimate a ship maneuverability. But a low speed test is difficult in present captive model test technique. So we made a free-running test instead of a captivemodel test. Firstly we carried out a real ship test. Free-running test was not attached importance, since its problem in analysis was pointed out. We tried to break through by devising test items and developing a statistical analysis utilizing database.In a real ship test, we developed experiment system by using a kinematic GPS, which is a satellitic positioning system with high accuracy. In a model test, we developed a experiment system with a video positioning analyser and air fans for moving model ship supposed tug boats.About ship position control, we investigated neural network control system and made a simulation for a berthing, and designed automatic berthing control system. Next subject is generalization to many aspects.Finally, we examined possibility to equip this position control system into a navigation supporting system.