Consistent design of PID controllers for an autopilot

• Autorzy: Świder Zbigniew , Trybus Leszek , Stec Andrzej

Identyfikatory

DOI

10.2478/pomr-2023-0008

• Języki publikacji: EN

Abstrakty

EN

A consistent approach to the development of tuning rules for course-keeping and path-tracking PID controllers for a ship autopilot are presented. The consistency comes from the observation that for each of the controllers the controlled plant can be modelled by an integrator with inertia. In the case of the course controller, it is the well-known Nomoto model. The PID controller may be implemented in series or parallel form, the consequence of which is a 2nd or 3rd order of the system, specified by a double or triple closed-loop time constant. The new tuning rules may be an alternative to the standard ones given in [1,2]. It is shown that, whereas the reference responses for the standard and new rules are almost the same, the new rules provide better suppression of disturbances such as wind, waves or current. The parallel controller is particularly advantageous. The path-tracking PID controller can provide better tracking accuracy than the conventional PI. Simulated path-tracking trajectories generated by a cascade control system are presented. The novelty of this research is in the theory, specifically in the development of new tuning rules for the two PID autopilot controllers that improve disturbance suppression.

Słowa kluczowe

EN

course control; autopilot; track control; PID tunings

• Wydawca: Gdańsk University of Technology, Faculty of Ocean Engineering & Ship Technology
• Czasopismo: Polish Maritime Research
• Rocznik: 2023
• Tom: nr 1
• Strony: 78--85
• Opis fizyczny: Bibliogr. 29 poz., rys., tab.

Twórcy

autor

Świder Zbigniew

• Rzeszów University of Technology, Faculty of Electrical and Computer Engineering, Poland

• https://orcid.org/0000-0003-3504-5340

autor

Trybus Leszek

• Rzeszów University of Technology, Faculty of Electrical and Computer Engineering, Poland

• https://orcid.org/0000-0002-1415-3679

autor

Stec Andrzej

• Rzeszów University of Technology, Faculty of Electrical and Computer Engineering, Poland

• https://orcid.org/0000-0002-5615-3626

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2024).