碩士 / 國立海洋大學 / 導航與通訊系碩士班 / 91 / A self-tuning internal model control (IMC) adaptive ship steering autopilot design method is proposed in this paper. The recursive least square method is employed in identifying the parameters of the Nomoto yaw dynamics model and the IMC-based autopilot gain coefficients are then adjusted accordingly. A frequency domain adaptive control design approach with internal model control structure is also presented .The plant and the controller are implemented with Lagrange interpolation models and the parameters are estimated by minimizing a predefined index. The frequency domain performance indices, specifically, the gain margin, the phase margin and the maximum closed-loop amplitude ratio suggested by Luyben are also computed to correlate with the IMC time domain speed of response design parameter β. In general, the controller order of the frequency domain based approach is higher; however, the controller is less model-specific. Numerical simulations indicate that both the time domain and frequency domain-based approaches adaptive autopilot work well in step heading and yaw rate tracking when the ship is sailing through
areas of different water depth.
| Identifer | oai:union.ndltd.org:TW/091NTOU0300032 |
| Date | January 2003 |
| Creators | chien lin wu, 吳建霖 |
| Contributors | C. Y. Tzeng, 曾慶耀 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 109 |
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