碩士 / 國立臺灣海洋大學 / 電機工程學系 / 103 / The goal of this thesis is to design a DSP-based course-keeping controller for a model vessel. We derive a dynamical model (with the sway velocity, the yaw angular velocity, and the heading angle as system states) for the used model ship. A LQR control law and a control law are then designed, respectively, to achieve course-keeping requirement. Experiment results show that the model ship controlled by the obtained controllers is able to keep course over the sea.
| Identifer | oai:union.ndltd.org:TW/103NTOU5442046 |
| Date | January 2015 |
| Creators | Zeng, Yan-Xiang, 曾彥翔 |
| Contributors | Wu, Jenq-Lang, 吳政郎 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 57 |
Page generated in 0.0022 seconds