舶用オートパイロット系の設計と実船実験

近似最短時間制御

抄録

This paper deals with the design of an approximate time optimal controller for changing the course of a ship. In general, the mathematical model of ship turning motions is very complex. Because the dynamics have time varying parameters and contain nonlinear and dead time elements.
To design it easily, first, we introduce the CCB test for fitting the switching curve of control. Then we construct the suitable 2nd order dynamical model for predicting the state variables, which contains dead time and varing time gain. This done, we can discuss the time optimal control on the predictive 2nd order phase plane for very complex controlled object. Also a linear state feedback controller is introduced to suppress hunting around the equilibrium point. The resultant system becomes what is known as a dual-mode control system.
Finally, results of both sea trial and digital simulation are given to show that the proposed controller gives excellent effects.