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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.
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.
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.
Engine stoppage mechanism of small boats during stormy weather
Naohiro YAMATANI,Atumu TEZAKI,Toshihiko NAKATANI,Noriko NISHII,Hiroshi MIKAMI 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
About 20% of maritime accidents involving small boats are caused by engine trouble. If the main engine stops under stormy conditions, then the operator might lose control of the boat, which might then overturn. In the worst case, such accidents can lead to injury and death. A main reason for sudden engine stoppage is that air bubbles form in the fuel line. That hazard has persisted as an important problem for small boats for many years. The present situation is that no decisive or effective countermeasure has been taken for boats. Some preliminary experiments were conducted to elucidate how air bubbles in the fuel line can be prevented when the boat rolls and pitches on the ocean. This research presents specific measures to prevent maritime accidents related to small boats.
Changes in fuel injection pressures and fuel spray quantity of marine diesel engines
Naohiro YAMATANI,Atsumu TEZAKI,Sotomi ISHIHARA,Toshihiko NAKATANI,Noriko NISHII,Hiroshi MIKAMI 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
When four-stroke diesel engines operate over long durations, it is well known that the fuel injection pressure decreases steadily, and then often followed by incomplete combustion in engine. Poor combustion in engine caused by the pressure drop is a big problem because it causes environmental pollution. However, changes in the exhaust temperature in four-stroke diesel engines occur more slowly than that in the fuel injection pressure. So, the effects of the fuel-injection-pressure drop on the exhaust gas temperature and maximum pressure do not appear in the operating data. It is difficult to grasp the combustion state from the operating data of an actual machine. This study aimed to observe and investigate carefully the phenomena that were accompanied with a drop in the fuel injection pressure.
Exhaust gas purification of ship in diesel oil combustion and future idea
Naohiro YAMATANI,Atsumu TEZAKI,Noriko NISHII,Toshihiko NAKATANI,Shigemi MATSUMURA 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10
The IMO (International Maritime Organization) is an administrative organization related to ships. It is a specialized agency of the United Nations established in 1958 to promote intergovernmental cooperation on maritime issues. As of July 2015, 171 countries and 3 regions including Hong Kong are affiliated. In 2016, as a specific environmental measure for combustion products emitted from ships, it was required to equip mandatory installation of SCR (Selective Catalytic Reduction) From 2020, ships that do not have desulfurization equipment will be restricted from using substantially inferior crude oil (C heavy oil). Companies that operate ships are planning to switch to high quality fuel and get over it, but the cost of fuel will increase by more than 20%, so urgent measures are required. In this study, we propose environment al load reduction assuming diesel oil.