相対する2目標値を含む評価関数を最適化した1入力2出力サーボ型一般化最小分散制御法の設計

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2019/11/01

タイトル(英語): Design of Servo Type Single Input Multi Outputs Generalized Minimum Variance Control Including Two Opposite Reference Signal

著者名: 土井　正好（大阪産業大学工学部機械工学科）

著者名(英語): Masayoshi Doi (Department of Mechanical Engineering, Faculty of Engineering, Osaka Sangyo University)

キーワード: 一般化最小分散制御，横揺れ，旋回，1入力2出力，外乱抑制，ロバスト漸近追従特性　　generalized minimum variance control，roll，turn，1 input 2 outputs，load-disturbance，robust asymptotic tracking performance

要約(英語): Ship is rolled greatly due to the waves in bad weather. Rolling cause the ship to overturn or cause collapse of the load. The purpose of this study is to suppress the roll of ship. Rolling suppression of this study is controlled by steering. Rolling can be suppressed by steering, but turning also occurs and the ship disengages from the course. This study applies Generalized Minimum Variance Control (GMVC) to the steering system. GMVC is derived by minimizing the cost function, which include tracking error and operation amount. Further, GMVC is based on Auto-Regressive eXogeneous (ARX) model. This study designed a new algorithm of GMVC. ARX model is expressed as Single Input Multi Outputs (SIMO) system. Then the single input means ship's steering and the multi outputs mean ship's rolling angle and turning angular velocity. The SIMO model are identified by ship's experiments. The cost function of proposed GMVC has rolling suppression term, turning suppression term and operation amount term. The proposed GMVC is designed with servo type against the model error and the wave's rolling effect.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.139 No.11 （2019）特集Ⅰ：国際会議ICESS 2018　特集Ⅱ：電気関係学会関西連合大会

本誌掲載ページ: 1277-1284 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/139/11/139_1277/_article/-char/ja/