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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/49642

Title: 船舶航向保持控制之研究
Study on course-keeping control of vessels
Authors: Zeng, Yan-Xiang
曾彥翔
Contributors: NTOU:Department of Electrical Engineering
國立臺灣海洋大學:電機工程學系
Keywords: 船舶航向保持;LQR控制;H-infinity 控制
course-keeping;LQR控制;H-infinity control
Date: 2015
Issue Date: 2018-08-22T07:09:30Z
Abstract: 本論文之研究目的在於使用DSP28335實現模型船舶之保持航向控制器,使得船舶在航行時航向不偏轉。我們首先推導實驗用船舶的動態方程式(以橫向速度、平擺角速度、航向角為狀態),接著據以設計一個LQR航向保持最佳控制法則與一個航向保持法則,最後以DSP28335晶片實現控制器控制模型船隻舵機角度達成船舶航向角的平衡。
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.
URI: http://ethesys.lib.ntou.edu.tw/cgi-bin/gs32/gsweb.cgi?o=dstdcdr&s=G0010253081.id
http://ntour.ntou.edu.tw:8080/ir/handle/987654321/49642
Appears in Collections:[電機工程學系] 博碩士論文

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