変針操船における人間 : 機械系の研究

Abstract

As the ship grows larger, the operater reports that it is difficult to control the ship at many stage. Although it is important to distinguish controllability, at the present stage of man-machine-system Analysis little is known about the controllability of Ship. The purpose of this paper is to consider the altering course control using the ship manoeuvering simulator. The experiment shows that the control of the altering course is the bang-bang control explaining on ψ_ε-ψ_ε phase plane (Fig. 6), and its switching boundary depends on the its manoeuverability. (Fig. 5) As we assume that the operation is proportional and differential control, the characteristics of the system is decided upon the system's dampping coefficient (1+KK_pT_D)/T (formula (5)). As the ship become lagger, dampping value is smoller, and course setting becomes worse. Although the operater increases the value K_p, T_D to adjust the ship's gain, system becomes worse. The value obtained is shown in (Fig. 8). For nonlinear system its dampping coefficient can be estimated on the phase plane trajectory, so we can evaluate the unstable ship. The dampping coefficient (ζ) obtained corresponds to the result of the altering control. (Fig. 12)〜(Fig. 14)