曲線追従における潮海流の推定と制御

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タイトル別名
  • Estimation and Control of Tidal Current in Curved Tracking
  • キョクセン ツイジュウ ニ オケル シオウミリュウ ノ スイテイ ト セイギョ

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This paper proposes three methods to reduce a tracking error attributable to tidal current in a curved tracking of track control system for a ship. In the curved tracking because the heading is changed even if the current is constant, the current component acting to the ship is changed. Present linear estimator that derives from reference coordinate system contains yaw elements and cannot be operated because of becoming non-linear in the curved tracking. The first proposal method derives the linear estimator from earth-fixed coordinate system not to contain the yaw elements. To realize a constant radius route using trajectory tracking control, the present method updates the turning rate by the updated speed obtained from the updating condition that compares the forward ground speed to a threshold value. It also corrects the sideways velocity component of the current by a side-slip angle through a feed-forward control. To reduce the present radius error attributable to the discontinuous update operation, the second proposal method modifies the updating condition, the updated speed, and the threshold value. The present feed-forward rudder angle for the side-slip angle correction has a case that exceeds the preset value. The third proposal method analyzes the maximum feed-forward rudder angle and defines a conditional expression not to become the maximum greater than the preset value. The proposed methods verifies the validity by simulations.

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