A study of a steering system algorithm for pleasure boats based on stability analysis of a human-machine system model

13th International Conference on Motion and Vibration Control; 12th International Conference on Recent Advances in Structural Dynamics

Ikeda, Fujio^1 ; Toyama, Shigehiro^1 ; Ishiduki, Souta^2 ; Seta, Hiroaki^3

National Institute of Technology, Nagaoka College, Niigata, Japan^1

Utsunomiya University, Tochigi, Japan^2

National Institute of Technology, Toba College, Mie, Japan^3

关键词: Controlled system;    Electronic controls;    Global coordinate systems;    Maritime accidents;    Stability analysis;    Stability regions;    Steering mechanisms;    Steering systems;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/744/1/012032/pdf
DOI  :  10.1088/1742-6596/744/1/012032

来源: IOP

【 摘 要 】

Maritime accidents of small ships continue to increase in number. One of the major factors is poor manoeuvrability of the Manual Hydraulic Steering Mechanism (MHSM) in common use. The manoeuvrability can be improved by using the Electronic Control Steering Mechanism (ECSM). This paper conducts stability analyses of a pleasure boat controlled by human models in view of path following on a target course, in order to establish design guidelines for the ECSM. First, to analyse the stability region, the research derives the linear approximated model in a planar global coordinate system. Then, several human models are assumed to develop closed-loop human-machine controlled systems. These human models include basic proportional, derivative, integral and time-delay actions. The stability analysis simulations for those human-machine systems are carried out. The results show that the stability region tends to spread as a ship's velocity increases in the case of the basic proportional human model. The derivative action and time-delay action of human models are effective in spreading the stability region in their respective ranges of frontal gazing points.