Decoupling Control of the Ship Propelled with a Controllable Pitch Propeller
Michio Kono, Yoji MURAKAMI, Takashi MORISHITA, Kiyoshi Mishima · Transactions of the Society of Instrument and Control Engineers · 1984
This paper deals with decoupling control of controllable pitch propeller (CPP) propulsion system, which has two independent inputs and two outputs. Inputs are the propeller revolution reference and the pitch angle. Outputs are the propeller revolution and the horsepower. Each input affects both outputs. By applying a decupling control law to this system, whole system is divided into two single-input single-output subsystems. Each input affects only the corresponding output. Since an entire state vector is not available in CPP propulsion system, an observer or a Kalman filter is used in order to estimate the state vector. We apply this method to CPP propulsion system of T. S. Shioji Maru. The decoupling control law, the observer and the Kalman filter have been implemented in the minicomputer. The actual sea test have been carried out, and experimental results are given.