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題 名 | Analysis of the Nonminimum Phase Behaviors Observed in Ship Steering Dynamics=船舶操縱動態非極小相位現象之分析 |
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作 者 | 曾慶耀; | 書刊名 | 中國造船暨輪機工程學刊 |
卷 期 | 18:1 1999.02[民88.02] |
頁 次 | 頁11-18 |
分類號 | 444.8 |
關鍵詞 | 非極小相位系統; 側移; 內傾; 右半平面零點; 船舶操縱; Nonminimum phase system; Sideway kick; Inward roll; Right half plane zero; Ship steering; |
語 文 | 英文(English) |
中文摘要 | 本文主要在於探討船舶操縱過程中所呈現之非極小相位行為;其特徵為,船舶動 態系統初始反應方向與系統之最終反應呈相反趨勢。例如在船舶迴旋運動之初期,當船舵由 船舯擺至兩側,則伴隨發生之船舶朝向迴旋圈外側之側移及因為舵力作用導致船舶橫搖而產 生之內傾。 上述現象由於與最終系統運動行為呈相反趨勢, 因此常被稱為逆射( undershoot )現象。 本文將從船舶橫移及橫搖系統轉移函數著手說明,一系統反應之逆射 行為可歸因於該系統轉移函數存在有右半平面之零點。文中亦將證明,若轉移函數存在右半 平面零點,則對於步階輸入其反應將有一逆射現象。另由數值模擬說明,若系統轉移函數之 右半平面零點距離虛軸愈近,則產生之逆射行為愈為明顯。 |
英文摘要 | This paper is concerned with the ship steering dynamics-related nonminimum phase behaviors, which are characterized by an initial movement in opposite direction to the system's steady-state trend. Specifically, during the first phase of a turning maneuver, an outward sideway kick as well as an inward roll are observed, which are known as the undershoot phenomena. A transfer function-based analysis will be given and we will show that the undershoot phenomena are attributed to the existence of right half plane zeros in the transfer function. In addition, the closer the right half plane zeros are located near the imaginary axis, the larger the undershoot phenomena are produced, which is the case for fast container ships. Wherease, the undershoot phenomenon is almost negligible for VLCC, which implies the corresponding right half plane zero is far away from the imaginary axis. |
本系統中英文摘要資訊取自各篇刊載內容。