在本論文中發展了一套包含耐海性與操縱性的非線性六度運動數學模式，並以四階Runge-Kutta之數值方法來求解計算船隻在波浪中的時程領域運動反應。藉由這套運動方程式，本文利用PD控制器和滑動模式控制器來探討船隻於波浪中的自動操控。除了透過瞄準線方式找出欲保持航向來達到操舵控制航向的功能之外，本文還以滑動模式控制法則推導出包含操舵減搖功能的獨立合併式控制與整合式控制兩種方法，其中，前者是各別考慮橫移－平擺運動與橫搖運動，而後者則考慮橫移－平擺－橫搖之耦合運動。為了使控制器得到最佳控制效果，本文並以基因演算法來搜尋滑動模式控制器的最佳化設計參數。此外，不規則波的時程模擬需耗費大量時間，在此先透過有義橫搖反應和橫搖的反應振幅運算子(RAO)來找出最大橫搖所對應的規則波，再利用此規則波來搜尋最佳設計參數，以便於降低參數最佳化的搜尋時間。在研究結果中，經由迴旋模擬結果與試結果的比對可發現，運動方程式中的非線性操縱性導數對船隻的操縱性能有明顯的影響。而航向追蹤的測試結果顯示，滑動模式控制器受到外在擾動時的控制能力比PD控制器還要好。經由船隻在規則波、長峰波與短峰波中的一連串航行模擬結果可發現，當船隻以高速航行時，滑動模式控制器可以達到航向控制的效果，而包含減搖控制的控制器還可以利用操舵降低橫搖。當船隻的速度降低之後，操舵減搖的效果也隨之降低，但控制器還是具有航向控制的功效。本文所建立的數學模式，對於評估設計階段的船隻操控性能或是應用於虛擬實境的技術發展都有相當大的助益。

A nonlinear mathematical model composed of seakeeping and maneuvering with six degrees of freedom of motions is built and the time domain simulation for ship motions in waves is calculated by the fourth Runge-Kutta method. Based on the equation of motions, the autopilot performances in waves are investigated by the PD controller and sliding mode controller. With the autopilot, the track keeping for the ship to the desired heading angle is achieved by the line-of-sight method. Furthermore, two kinds of controllers, i.e. the individual combined control and integrated control, based on the sliding mode control law are built to reduce the roll motion by the rudder control. The former considers sway-yaw motion and roll motion separately, and the other considers the coupling motions for sway-yaw-roll responses. In order to achieve optimal control performance, the genetic algorithms are adopted to obtain the optimal design parameters. Since the time domain simulation of irregular waves is time consuming, the optimal design parameters are simply determined based on the corresponding regular wave with maximum roll response which obtained from the sea state and response amplitude operator (RAO) of roll motion. From the comparison between simulations of turning circle and sea trial information, nonlinear maneuvering coefficients in the equations of motion indeed have significant effects on ship maneuvering ability and can not be neglected. The track keeping test reveals the control ability of sliding mode controller is better than PD one when external disturbances are considered. From a series of simulation results in regular waves, long-crested waves and short-crested waves, the track keeping function with the sliding mode controller are effective when the ship sails with high speed, and it can also achieve the roll reduction purpose by rudder control. However, if the ship velocity becomes lower, the roll reduction effect is invisible, but controller is still able to keep the track. According to the present results we find the mathematical model developed here is useful for estimating the ship maneuvering ability in waves at initial ship design phase and can also play a very important real time simulation tool while applying the visual reality technique to ship simulators.

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