碩士 / 國立臺灣大學 / 應用力學研究所 / 87 / Abstract
This thesis applies the optimal control theory and the theory of differentially flat system to design the optimal path for the motion of a ship. The model chosen here is a nonlinear, plannar ship model. If it is allowed to use three controls, the optimal control theory can be adopted to obtain the optimal path. However, if there are only two controls allowed, i.e. the peddler and the rudder, then the optimal control method is not very useful. If the ship is not allowed to side slip, then the shooting method may yield optimal solution. But if the motion may side slip, then the method is not feasible. Accordingly, we introduce the notion of differentially flat system, and show that the ship system is indeed differentially flat. For a differentially flat system, there exists a set of outputs, called flat outputs, such that all states and inputs can be determined from these outputs. Since the behavior of flat system is determined by the flat outputs, we can design trajectories in output space, and then map these to original states and inputs. By utilizing the special properties of the differentially flat system, the point-to-point path, the optimal transfer path can be obtained.
| Identifer | oai:union.ndltd.org:TW/087NTU00499054 |
| Date | January 1999 |
| Creators | Min-Chih Lien, 連敏智 |
| Contributors | Li-Sheng Wang, 王立昇 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 63 |
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