NEW SHIPS AUTO PILOT DESIGN THROUGH A STOCHASTIC-MODEL

被引：29

作者：

OHTSU, K

HORIGOME, M

KITAGAWA, G

机构：

[1] TOKYO UNIV MERCANTILE MARINE,DEPT CONTROL ENGN,TOKYO 135,JAPAN

[2] INST STAT MATH,TOKYO 106,JAPAN

来源：

AUTOMATICA | 1979年 / 15卷 / 03期

关键词：

Akaike's Information Criterion (AIC); autoregressive model; computer applications; computer control; Direct digital control; discrete time system; dynamic programming; identification; microprocessors; ships; spectral analysis; stochastic control; time series analysis;

D O I：

10.1016/0005-1098(79)90043-8

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A new type of ship's autopilot system is designed by a statistical approach. A ship's motion at sea is described by a multi-variable autoregressive model using minimum AIC (Akaike's Information Criterion) procedure. Through the fitted model, the ship's behavior is analyzed and an optimal control law for a ship under a newly introduced criterion function is derived. The feasibility of our control system is checked by both digital and hybrid simulations. The results of the simulation show that with our controller the yaw motion is depressed through smoother and less rudder motion than that of the conventional autopilot systems and the ill effect of rolling is avoided. It is expected that the controller has another merit: it is quite robust for possible changes of external environments. Finally, a successful result of an actual sea test is briefly discussed. Thus, the possibility of realizing an entirely new autopilot system by a stochastic model is demonstrated. © 1979.

引用

页码：255 / 268

页数：14

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