著者

寺田 大介 安川 宏紀 芳村 康男 松田 真司

出版者

公益社団法人 日本船舶海洋工学会

雑誌

日本船舶海洋工学会論文集 (ISSN:18803717)

巻号頁・発行日

vol.30, pp.49-57, 2019

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<p>A roll response model during maneuvering, which can express a transient motion after steering, is proposed. The transient motion, namely the transition process from initial inward heel to outward heel, is used in the rudder–roll stabilization system. Nowadays, the model reference control is well used as an autopilot system of the actual ship. As to the model, the yaw response model such as the K–T model proposed by Nomoto is used because of the convenient adjustment of parameters. However, there is not the roll response model to be able to use for the rudder–roll stabilization. In this study, the 4th order roll response model proposed by Yasukawa and Yoshimura which was obtained from the 4 degrees of freedom (surge-swayroll- yaw) mathematical maneuvering model is focused on. And it is called as the Y–Y model in this study. Firstly, assume that the change of the rolling against steering is gradual, the Y–Y model is approximated by the 2nd order. Moreover, the modeling is done by considering the fact that the rolling due to steering is a non–minimum phase system. In order to verify the effectiveness of the proposed model, the numerical experiments were carried out. The KCS container ship was selected as the sample, since there is the information of maneuvering derivatives, which was obtained by the captive model experiments, including the effect of rolling. As the result, it can be confirmed that the proposed model can be expressed rolling in the transient situation after steering well under the assumption used in the modeling of Y–Y model. Furthermore, the procedure to estimate the parameters is also proposed by using the measured onboard monitoring data, and the effectiveness is confirmed based on the numerical experiment.</p>