Tuning Rules of Conventional and Advanced Ship Autopilot Controllers

Trybus, Leszek; Świder, Zbigniew; Stec, Andrzej

doi:10.1007/978-3-319-15796-2_31

Cited by 9 publications

(9 citation statements)

References 1 publication

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“…, tak więc suma staje się nową wielkością zadaną dla regulatora kursu (pomocniczego) [8,9]. Równania obejmujące aktualną pozycję statku…”

Section: Regulator Trasyunclassified

A Prototype of a Cascade Ship Autopilot Implemented in the CPDev Environment

Świder¹

2023

PAR

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Ship autopilots can be divided into conventional, only capable of maintaining a given heading, and advanced, which can additionally follow a „track” connecting the given navigation points along the ship’s route. The article presents the structure of the prototype autopilot of the ship implemented in the CPDev environment and the formulas allowing to determine the settings of the course controller (PID) and track controller (PI) in the cascade control. For each of them, individual design parameters were adopted to define the dynamics of the closed control loop. These rules were applied in the software of the autopilot prototype, created in cooperation with a Dutch company designing control and visualization systems for ships.

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“…, tak więc suma staje się nową wielkością zadaną dla regulatora kursu (pomocniczego) [8,9]. Równania obejmujące aktualną pozycję statku…”

Section: Regulator Trasyunclassified

A Prototype of a Cascade Ship Autopilot Implemented in the CPDev Environment

Świder¹

2023

PAR

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“…Alternatywą dla tych nastaw mogą być nastawy podane w [10], sformułowane przy założeniu podwójnej stałej czasowej układu zamkniętego (tłumienie krytyczne), która w zadanym stosunku ma różnić się od stałej czasowej statku. Dzięki eliminacji przez regulator tej stałej czasowej, układ zamknięty staje się 2-go rzędu, ale bez sięgania po zależność heurystyczną.…”

Section: Jednolite Projektowanie Regulatorów Kursu I śCieżki Dla Auto...unclassified

“…Tutaj wracamy do uzasadnienia nastaw z [10] dokonując jednocześnie porównania z nastawami wzorcowymi dla odpowiedzi na zakłócenia środowiskowe (wiatr, prąd). Okazuje się, że pod tym względem zaproponowane nastawy wyglądają korzystniej.…”

Section: Jednolite Projektowanie Regulatorów Kursu I śCieżki Dla Auto...unclassified

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Uniform Design of Heading and Track Controllers for Ship Autopilot

Stec¹,

Świder²,

Trybus³

2023

PAR

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Uniform approach to selection of PID settings for heading and path tracking controllers that create a cascade control system for ship autopilot is presented. Uniformity of the design follows from observation that for each of the controllers the controlled plant looks like an integrator with time constant. In case of the heading controller, the plant is represented by the known Nomoto model. Due to elimination of the plant time constant by the controller, each of the closed loop systems becomes of 2nd order. One assumes that such system should have a double time constant, different in a prescribed ratio from time constant of the controlled plant. It is shown that the heading controller designed in this way suppresses disturbances better than the controller with standard settings.

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“…The diagram of the proposed cascade system is shown in Fig. 3 (compare [26]). PIDT denotes the track controller, PIDC the course controller, and the final element V/s converts the course deviation φ-φ s ref plus disturbance d T into a Cross-Track Error XTE dependent on the speed V [1,2].…”

Section: Pid Track Controllermentioning

confidence: 99%

Consistent Design of PID Controllers for an Autopilot

Świder

Trybus

Stec

2023

Polish Maritime Research

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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.

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Tuning Rules of Conventional and Advanced Ship Autopilot Controllers

Cited by 9 publications

References 1 publication

A Prototype of a Cascade Ship Autopilot Implemented in the CPDev Environment

A Prototype of a Cascade Ship Autopilot Implemented in the CPDev Environment

Uniform Design of Heading and Track Controllers for Ship Autopilot

Consistent Design of PID Controllers for an Autopilot

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