| 摘要 |
PROBLEM TO BE SOLVED: To establish a control system of a one-input one-output system. SOLUTION: Based on a geometry of right and left turning type thrusters 2a, 2b and a bow thruster 3 on hull fixation coordinates of a twin screw vessel having a bow thruster 3 and turning type thrusters 2a, 2b, a determinant indicating transmission of (F<SB>b</SB>, T<SB>1</SB>, T<SB>2</SB>, T<SB>3</SB>, T<SB>4</SB>)<SP>t</SP>comprising the thrust of the respective thrusters 2a, 2b and 3 and (X, Y, N)<SP>t</SP>comprising a forward/backward force X, a lateral force Y and the turning round moment N applied to a hull 1 by the thrust of the respective thrusters 2a, 2b and 3 is calculated. An inverse problem of the determinant is solved by a minimum right transformation to obtain a determinant. By using this obtained determinant, based on the forward/backward force X, the lateral force Y and the turning round moment N required to be applied to the hull 1 to make the twin screw vessel having the bow thruster 3 and turning type thrusters 2a, 2b perform intended movement, the combination of the thrust F<SB>b</SB>, T<SB>1</SB>, T<SB>2</SB>, T<SB>3</SB>, T<SB>4</SB>to be generated in the respective thrusters 2a, 2b and 3 is determined. COPYRIGHT: (C)2008,JPO&INPIT
|
