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國立台灣海洋大學

National Taiwan Ocean University. 國立台灣海洋大學. 4/18 進度報告. 指導教授：曾慶耀 老師 李信德 老師 學生：李康維 學號： 10067036 日期： 2013/4/18. NTOU-SMCL Ship Maneuvering and Control Laboratory. Outline. θ LM & θ CR 關係推導 θ LM+CR & θ VCR 驗證 論文架構. NTOU-SMCL Ship Maneuvering and Control Laboratory.

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國立台灣海洋大學

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  1. National Taiwan Ocean University 國立台灣海洋大學 4/18 進度報告 指導教授：曾慶耀 老師 李信德 老師 學生：李康維 學號：10067036 日期：2013/4/18 NTOU-SMCL Ship Maneuvering and Control Laboratory

  2. Outline • θLM & θCR關係推導 • θLM+CR & θVCR 驗證 • 論文架構 NTOU-SMCL Ship Maneuvering and Control Laboratory

  3. θLM & θCR關係式推導 NTOU-SMCL Ship Maneuvering and Control Laboratory

  4. θLM & θCR關係式推導 本文取r值為0.5 左右疊標導航法示意圖 NTOU-SMCL Ship Maneuvering and Control Laboratory

  5. Step1： 移項整理得 Step2：

  6. yaw sway

  7. θLM+CR & θVCR 驗證 θLM+CR Fuzzy Rule θVCR Rudder NTOU-SMCL Ship Maneuvering and Control Laboratory

  8. θLM+CR & θVCR 驗證 NTOU-SMCL Ship Maneuvering and Control Laboratory

  9. 輸出舵角比較 θLM & θCR& θVCR θLM+CR & θVCR NTOU-SMCL Ship Maneuvering and Control Laboratory

  10. 論文架構 • 第一章：緒論 包含四個部份，簡介、文獻回顧、研究動機以及論文架構之說明。 • 第二章：影像處理與疊標導航法 說明如何將影像處理技術應用於左右加後助航疊標導航法，以及各輸入角度之物理意義。 • 第三章：模糊自航器設計 說明各種輸入型態之模糊控制器設計方法，和模糊規則簡化過程。 • 第四章：實驗船舶環境與架構 介紹實驗環境及軟硬體設備，包含載具、影像擷取設備與導航系統等。 • 第五章：實驗結果分析與討論 針對不同控制器不同模糊規則進行室內實驗和實船試驗，並對實驗結果加以分與討論。 • 第六章：結論與建議 根據本文所得到之結果與分析提出結論，並針對未來後續研究可改善部分加以說明。 NTOU-SMCL Ship Maneuvering and Control Laboratory

  11. 第三章： 1. θLM + θCR 2. θLM + θCR+ θVCR 3. θLM+CR + θVCR 4. 模糊規則簡化過程 NTOU-SMCL Ship Maneuvering and Control Laboratory

  12. Thank youfor your attention. NTOU-SMCL Ship Maneuvering and Control Laboratory

  13. NTOU-SMCL Ship Maneuvering and Control Laboratory

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