方位初期条件および操舵機制約を考慮した参照信号の設計 : 船体の変針操縦への適用 Designing of Reference Signals that Considered Heading's Initial Conditions and Steering Gear's Limitations : An Application to Course-changing Maneuver for a Ship

この論文にアクセスする

この論文をさがす

著者

抄録

This paper proposes designing of reference signals that realize a trajectory planning for course-changing in heading control system for a ship. The trajectory planning sets not only a designated quantity of turning but also the rate of turning with taking the ship characteristics and the steering gear limitation characteristics into account. To realize the trajectory planning, the reference signals are designed by analytical approach, which consist of the reference heading and the feedforward rudder inverting the ship model. The designing specifications consist of the course-changing conditions, the ship characteristics and the steering gear limitation characteristics. The maximum rudder angle and the maximum rudder rate in the feedforward rudder are derived by using relations between the reference heading and the ship model, and correspond to the limitation angle and the limitation rate in the steering gear, respectively. The equations of the reference heading are defined by time function with its initial conditions. First making the initial conditions set into zero, the reference signals are calculated. Secondly using the results, the reference signals which included the initial conditions are calculated. The designing of reference signals were verified by numerical calculations. We can conclude that our proposal method realizes the trajectory planning.

収録刊行物

  • 計測自動制御学会論文集  

    計測自動制御学会論文集 44(4), 333-342, 2008-04-30 

    The Society of Instrument and Control Engineers

参考文献:  8件

参考文献を見るにはログインが必要です。ユーザIDをお持ちでない方は新規登録してください。

被引用文献:  3件

被引用文献を見るにはログインが必要です。ユーザIDをお持ちでない方は新規登録してください。

各種コード

  • NII論文ID(NAID)
    10021990280
  • NII書誌ID(NCID)
    AN00072392
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    04534654
  • NDL 記事登録ID
    9501819
  • NDL 雑誌分類
    ZM11(科学技術--科学技術一般--制御工学)
  • NDL 請求記号
    Z14-482
  • データ提供元
    CJP書誌  CJP引用  NDL  J-STAGE 
ページトップへ