Control of the Vessel Course using of PID-Regulator under Parametric Uncertainty

Abstract

Abstract The work is devoted to the problem of ensuring the safe movement of vessels in maritime waters. A special place within the framework of this problem is occupied by the task of planning the shipping route: the trajectory of the vessel’s movement in the local sea waters area and shipping route from the port of sailing out to the port of destination. The purpose of planning the vessel’s trajectory in the local sea waters area is to ensure navigation safety in the conditions of collective movement and geographical features of the waters area. In the present work the task of controlling the vessel when she is proceeding by the program trajectory is considered. The article notes that the inaccuracy of a preconceived ideas about the model of vessel movement can significantly affect the behavior of the vessel in the control processing, accuracy of control may become insufficient in circumstances of high traffic intensity, which can lead to dangerous approach of vessels. To solve this problem, it is proposed to include in the ship’s control system the PID - regulator operating on a deviation from the course, integral from this deviation and its derivative, and also, the function of identifying the model of motion of an object by the method of speed gradient, realizing a closed system. As a model of the vessel’s movement adopted well known model Nomoto of second order. The article is accompanied by the results of modeling the proposed ship control system. It is shown that it is able to operates within a single process in real time and respond adequately to changes of motion model parameters.