Consideration regarding Automation of Controllable Pitch Propeller for Mooring Pier in Stormy Weather. Applying Generalized Minimum Variance Control-

• Project/Area Number: 21760340
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Control engineering
• Research Institution: Hiroshima Institute of Technology (2010-2011); Fukuyama University (2009)
• Principal Investigator: DOI Masayoshi 広島工業大学, 工学部, 准教授 (10442477)
• Project Period (FY): 2009 – 2011
• Project Status: Completed (Fiscal Year 2011)
• Budget Amount: ¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000); Fiscal Year 2011: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000); Fiscal Year 2010: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000); Fiscal Year 2009: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
• Keywords: 可変ピッチプロペラ / 推進運動モデル / ロードセル / 係留索 / 一般化最小分散制御 / 翼角制御 / むだ時間 / 潮流

Research Abstract

The purpose of this study is a design of an automatic peering system with a Controllable Pitch Propeller(CPP) in the case of the stormy weather. A velocity response of CPP has a delay time. Especially, this study verifies the ship's propelling force against the CPP angle and detects the delay time by analyzing the data of the propelling force. The CPP angle is controlled by Generalized Minimum Variance Control(GMVC). This study arranges the GMVC for the automatic mooring system. The proposed GMVC has wind and a tidal effect's terms. The wind effect's term is considered by the ship's drift with the wind. The predicted wind velocity is calculated by the AR model of wind change. The AR model of wind is used for the GMVC of the peering system.

Research Products

• [Journal Article] 船舶の低速航行時における操舵応答性を改善する一般化最小分散制御の設計 (2011)
  • Author(s): 土井正好、永本和寿、出縄憲一、森泰親
  • Journal Title: 計測自動制御学会論文集 Volume: 47巻 Pages: 396-403
  • NAID: 10029795500
  • Peer Reviewed
• [Journal Article] 連続時間型一般化最小分散制御における部分的モデルマッチング法の提案 (2010)
  • Author(s): 田島淳一、土井正好、森泰親
  • Journal Title: 電気学会電子・情報・システム部門誌 Volume: 130巻 Pages: 1979-1986
  • NAID: 10027457897
  • Peer Reviewed
• [Journal Article] Generalized Minimum Variance Control for MIMO System with Multiple Sampling Periods (2010)
  • Author(s): Satoshi BESSHO, Masayoshi DoI, Yasuchika MORI
  • Journal Title: SICE Journal of Control, Measurement, and System Integration Volume: 3 Pages: 145-150
  • NAID: 10031139998
  • Peer Reviewed
• [Journal Article] 連続時間型一般化最小分散制御における部分的モデルマッチング法の提案 (2010)
  • Author(s): 田島淳一、土井正好、森泰親
  • Journal Title: 電気学会C部門誌 Volume: 130 Pages: 1979-1986
  • NAID: 10027457897
  • Peer Reviewed
• [Journal Article] 時変系のための一般化最小分散制御-直接擬似変換法による雑音特性の改善- (2009)
  • Author(s): 土井正好、森泰親
  • Journal Title: 計測自動制御学会論文集 Volume: 45巻 Pages: 298-304
  • NAID: 10025090210
  • Peer Reviewed
• [Journal Article] 異なるむだ時間を含む多入出力2自由度一般化最小分散制御 (2009)
  • Author(s): 森泰親、高木彰浩、土井正好
  • Journal Title: 電気学会電子・情報・システム部門誌 Volume: 129巻 Pages: 1569-1575
  • NAID: 10025101743
  • Peer Reviewed
• [Journal Article] Generalized Minimum Variance Control for MIMO System with Multiple Sampling Periods (2009)
  • Author(s): 別所哲、土井正好、森泰親
  • Journal Title: SICE JCMSI Volume: 3巻 Pages: 145-150
  • NAID: 10031139998
  • Peer Reviewed
• [Journal Article] 時変系のための一般化最小分散制御-直接擬似変換法による雑音特性の改善- (2009)
  • Author(s): 土井正好、森泰親
  • Journal Title: 計測自動制御学会論文集 45 Pages: 298-304
  • NAID: 10025090210
  • Peer Reviewed
• [Journal Article] 異なるむだ時間を含む2自由度一般化最小分散制御 (2009)
  • Author(s): 森泰親、高木彰浩、土井正好
  • Journal Title: 電気学会C部門誌 129 Pages: 1569-1575
  • Peer Reviewed
• [Presentation] Design of Generalized Minimum Variance Control for Improving Ship's Steering Performance on Low Speed (2011)
  • Author(s): Kenichi Idenawa, Masayoshi Doi, Kazuhisa Nagamoto, Yasuchika Mori
  • Organizer: SICE Annual Conference 2011 in Waseda
  • Place of Presentation: 早稲田大学
  • Year and Date: 2011-09-14
• [Presentation] PID制御による船舶操舵制御系に関する一考察 (2011)
  • Author(s): 出縄憲一、土井正好、森泰親
  • Organizer: 電気学会全国大会
  • Place of Presentation: 大阪府豊中市大阪大学豊中キャンパス
  • Year and Date: 2011-03-17
• [Presentation] Continuous-time Generalized Minimum Variance Control with Double Controller (2011)
  • Author(s): 土井正好、森泰親
  • Organizer: 8^<th> Asian Control Conference(ASCC)
• [Presentation] Applying Generalized Minimum Variance Control for Ship's steering control system (2010)
  • Author(s): Masayoshi Doi, Kazuhisa Nagamoto, Tetsuya Takehira, Yasuchika Mori
  • Organizer: SICE Annual Conference 2010 (国際学会)
  • Place of Presentation: Taipei in Taiwan
  • Year and Date: 2010-08-19
• [Presentation] 船舶可変ピッチプロペラによる強風時桟橋停泊のための基礎実験 (2010)
  • Author(s): 土井正好、大坂穣、森泰親
  • Organizer: ICCAS-SICE 2009(国際学会)
  • Place of Presentation: 東京都千代田区明治大学駿河台キャンパス
  • Year and Date: 2010-03-18
• [Presentation] 船舶可変ピッチプロペラによる強風時桟橋停泊のための基礎実験 (2010)
  • Author(s): 土井正好、大阪穣、森泰親
  • Organizer: 電気学会全国大会
• [Presentation] Applying Generalized Minimum Variance Control for Ship's steering control system (2010)
  • Author(s): 土井正好、竹平哲也、永本和寿、大阪穣、森泰親
  • Organizer: SICE2010 in Taiwan
• [Presentation] Delay Time of Propelling Force with Ship's Controllable Pitch Propeller(CPP) (2009)
  • Author(s): Masayoshi Doi, Kazuhisa Nagamoto, Tetsuya Takehira, Yasuchika Mori
  • Organizer: ICCAS-SICE 2009(国際学会)
  • Place of Presentation: 福岡県福岡市福岡国際会議場
  • Year and Date: 2009-08-18
• [Presentation] Generalized Minimum Variance Control with Pseudocommutation Applying Sylvesta Matrix for Time Varying System (2009)
  • Author(s): 土井正好、竹平哲也、森泰親
  • Organizer: ICCAS-SICE2009 in Fukuoka
• [Presentation] Time Delay of Propelling force with Ship's Controllable Pitch Propeller(CPP) (2009)
  • Author(s): 土井正好、竹平哲也、永本和寿、森泰親
  • Organizer: ICCAS-SICE2009 in Fukuoka