文章基本信息

标题：波浪中 Resonance-Free SWATH 運動の水中翼による非線形制御
本地全文：下载
作者：吉田基樹 ; 梶原宏之 ; 神田雅光等
期刊名称：日本船舶海洋工学会論文集
印刷版ISSN：1880-3717
电子版ISSN：1881-1760
出版年度：2015
卷号：22
页码：119-128
DOI：10.2534/jjasnaoe.22.119
语种：Japanese
出版社：社団法人日本船舶海洋工学会
摘要：A Resonance-Free SWATH (RFS), which has negative restoring forces, is introduced to minimize the motion responses in waves because the strict time-punctuality and the high value of the cargo require the superior seaworthiness such as no speed reduction and no slamming. Accordingly, the attitude of RFS should be adjusted by small underwater control fins. The latent ability of RFS for seaworthiness is not completely made use in the case of PD control because P gain in PD control acts as the large restoring force. In this study, a nonlinear sliding mode control has been applied to make up for deficiencies in PD control. The simulation using the time domain simulator for the sliding mode control and the experiments using the model have been carried out. As a result, the effectiveness of the sliding mode control has been confirmed. The pitch motion response of RFS under the sliding mode control is decreased by half compared with PD control.