Design of the robust PID course - keeping control system for ships

• Autorzy: Morawski L. , Pomirski J.
• Języki publikacji: EN

Abstrakty

EN

The paper presents the design of PID ship course-keeping autopilot of high steering performance and which is robust against ship dynamic motion variations. The basis for the design was a simple linear model of ship dynamic motion, but model's variations due to velocity were also considered. The PID controller coefficients were selected by using the performance indices: the settling time and ITAE integral performance index. The designed PID controller was tested by means of computer simulations. For that aim a nonlinear, directionally unstable ship model was used.

Słowa kluczowe

EN

autopilot; PID; ship

• Wydawca: Gdańsk University of Technology, Faculty of Ocean Engineering & Ship Technology
• Czasopismo: Polish Maritime Research
• Rocznik: 2002
• Tom: Vol. 9, nr 1
• Strony: 28--31
• Opis fizyczny: Bibliogr. 4 poz, rys., tab.

Twórcy

autor

Morawski L.

• Department of Ship Automation Gdynia Maritime University

autor

Pomirski J.

• Department of Ship Automation Gdynia Maritime University

Bibliografia

• 1. Dorf R.C., Bishop R.K.: Modern Control Systems. Addison-Wesley, Menlo Park, 1998.
• 2. Amerongen, J.: Adaptive Steering of Ships - A Model Reference Approach to Improved Maneuvering and Economical Course Keeping. Ph.D. Thesis. Delft University of Technology. 1982.
• 3. Lisowski J.: Ship as an Object of Automatic Control (in Polish). Wydawnictwo Morskie. Gdańsk, 1981.
• 4. Morawski L., Pomirski J.: Identification and Control of a Direction (Unstable Ship. Problems of Nonlinear Analysis in Engineering Systems. Vol. 7. No 1(13). Kazan, 2001.