著者

羽根 冬希

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.46, no.8, pp.420-429, 2010 (Released:2011-11-03)

参考文献数

10

被引用文献数

1

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This paper proposes a method of controlling the tracking errors attributable to current based on a Heading Control System (HCS) which focuses on the aspects controlled by the heading of a Track Control System (TCS) and the aspects comprised in the straight and circular-leg segments of the planned route. The HCS is comprised of a reference heading and a 2-degree-of-freedom control (2DOFC) system to provide course keeping and course changing functions. The proposed method pertains to a tracking control loop for both the straight-leg and circular-leg segments of the route and involves separating the TCS into the HCS control loop and the tracking control loop and adopting a reference route derived from the reference heading and ship speed. In the straight-leg segments of the route, constant current components are estimated based on the tracking errors from the reference route and these current component estimates are used to correct side slip angle through feed back control. In the circular-leg segments of the route, the current component estimates are used to correct side slip angle and the turn rate through the reference heading and 2DOFC. As the ship's heading follows the reference heading by means of the feed forward control operation, the side slip angle cancels the current component of the route's normal direction. The rate of turn relates to changes in ground speed (sum of current and ship speed) to maintain a constant radius. Additionally, reach is estimated from the reference heading and the feed forward control. Reach refers to the distance from the start position of the circular-leg. The validity of this proposed method was verified by simulation results.