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Masayoshi Doi,Tetsuya Takehira,Yasuchika Mori 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper describes a Generalized Minimum Variance Control (GMVC) strategy for Time Varying System (TVS). GMVC is one of the predict control methods, which are effective to Time Delay system. In TVS, polynominals of the model are noncommutative. Then, the cost function cannot be optimized accurately because a noncommutative noise term remains. This paper applies the Direct Pseudocommutation Method to TVS in order to improve the noncommutativity. The proposed pseudocommutation method is durable in time shift of time varying multiplications even though this GMVC strategy holds its simple structure.
Delay Time of Propelling Force with Ship's Controllable Pitch Propeller(CPP)
Masayoshi Doi,Kazutoshi Nagamoto,Tetsuya Takehira,Yasuchika Mori 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
The purpose of this study is the identification of delay time of a design method that makes a controller for a system with a delay time in the case of a Controllable Pitch Propeller(CPP). A velocity response of CPPhas delay time until reaching the setting CPP"s angle and due to propeller"s slip. Especially, this study verifies the ship"s propelling force against the CPP"s angle and detects delay time by analyzing the data of the propelling force.