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A study on dynamics analysis of a small ship and pitch motion stabilization by engine speed control
Toshihiko NAKATANI,Keiji SASAYA,Tomoki OKU,Shigeki Tajika,Taizo KANEDA,Erika URA 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
This paper describes dynamics analysis of a small training ship and a possibility of ship pitching stabilization by adjusting engine speed. First, statistical analysis through multi-variate auto regressive(MAR) model is carried out. After upgrading the navigational system of an actual small training ship, in order to identify the model of the ship, the real data collected by sea trials on the ship were used. This analysis has shown that the pitching motion is influenced by the engine speed and it is suggested that there exists a possibility of reducing the pitching motion by controlling the engine throttle properly. Based on this observation, a new type of ship controller, which takes the pitching motion into account, is designed using the muti-variate modern control theory. Last, in order to evaluate the proposed controller, digital simulations by white noise are carried out. As results of simulations, the proposed system has good performance compared with the original data.
A Study on Ship’s Autopilot System for a Small Boat
Toshihiko NAKATANI,Makoto ENDO,Keiji SASAYA,Takashi MIWA,Hiroshi MIKAMI,Taizo KANEDA,Emi KANAYAMA,Erika URA 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
This paper describes dynamics analysis of a small training boat and the application of a gain map PID controller to the autopilot of the vessel. After upgrading the autopilot of the Sazanami, an actual small training boat, in order to identify the boat model, zigzag maneuver trials were performed at various speeds. It was found that the Nomoto gain and time constant changed considerably with the vessel’s speed. Based on this analysis, an improved autopilot system that utilizes a gain map PID controller to compensate for vessel maneuverability changes was designed. From the results of various control simulations, we determined that the proposed system offered significant performance improvements over the vessel’s conventional autopilot.
Dynamics Analysis and Optimal Control of a Marine Diesel Engine
Toshihiko NAKATANI,Takashi MIWA,Naohiro YAMATANI,Keiji SASAYA,Daiki OKADA,Taizo KANEDA,Emi KANAYAMA,Erika URA 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10
This paper describes dynamics analysis of a governor-engine control system in a marine diesel engine and its optimal control at sea. A new governor system is developed which takes into account the ship’s motion, and the results of full-scale experiments using the new system are presented. Statistical analysis using a Multivariate Auto Regressive (MAR) model is performed on data collected from the sea trial of a small training ship, the Shioji Maru. It is shown that the speed of the ship’s propeller is strongly influenced by the ship’s pitching motion. Based on this observation, a new type of marine governor that takes the ship’s pitching motion into account is designed using modern multivariate control theory. Finally, full-scale experiments into the performance of the new system are conducted.