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題 名 | A Comparative Study of Ship Handling Simulator-based Track-keeping Maneuvers Conducted by Autopilots and Human Pilot=自航器與人工操舵在操船模擬機之航路追蹤測試探討 |
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作 者 | 曾慶耀; 張振仕; 李信德; | 書刊名 | 中國造船暨輪機工程學刊 |
卷 期 | 18:3 1999.08[民88.08] |
頁 次 | 頁63-72 |
分類號 | 444.9 |
關鍵詞 | 模糊自航器; 內模式自航器; 人工操舵; 操船模擬機; 航路追蹤; Fuzzy autopilot; Internal model control autopilot; Human pilot; Ship handling simulator; Track-keeping; |
語 文 | 英文(English) |
中文摘要 | 本文利用真時操船模擬機來探討內模式自航器、模糊自航器及人工操舵三種不同 控制型態之船路追蹤控制性能。其中,內模式自航器屬於模式需求型控制器,模糊自航器 屬於非模式需求型控制器,而人工操舵則因其藉由操船經驗知識來控制船舶,因此可視為 非模式需求型控制器。經由模擬實驗結果得知,內模式自航器及模糊自航器於急彎處皆有 明顯超射現象。而人工操舵,則因操船人員憑其經驗預知可能發生超射而提早轉向,藉此 避免了急彎處超射角之發生。至於自航器之用舵特性與人工操舵則有明顯差異,其中內模 式自航器及模糊控制區之用舵量較小,但較頻繁,而人工操舵則傾向使用較大之舵角,但 用舵之頻率則較低。就整體控制性能而言,內模式自航器與模糊自航器兩者表現尚可,且 二者差異不大,而人工操舵亦有不錯之航路追蹤表現。 |
英文摘要 | Real time ship handling simulator-based track-keeping experiments conducted with three different control strategies are presented in this paper. Specifically, the internal model control (IMC) autopilot, the fuzzy autopilot and the human pilot are employed in conducting the tracking-keeping experiments. Real time track-keeping simulation experiments indicate that the model-based IMC autopilot and the model-free fuzzy autopilot achieve similar performance. However, both autopilots induces overshoot when coping with sharp corner. The human pilot forsees the potential overshoot when coping with sharp corner and makes an early transition to avoid overshoot; hence, better performance is achieved. Moreover, the autopilot-based maneuvers make frequent use of the rudder but with small amplitudes. The human pilot tends to use large rudder angle but less frequently. |
本系統中英文摘要資訊取自各篇刊載內容。