Vessel heading control systems with switchable regulators

Abstract

The purpose of this work is to study the possibilities of improving the quality of the processes of controlling the movement of the vessel along the course by combining individual standard controllers. Of the known scientific directions devoted to the problem being solved, the closest is the theory of systems with variable structure, in which, due to switching, a unique useful property is achieved, which are not possessed by individual switched structures. The article is devoted to the approach to the construction of the ship course control system, which is based on the principle of switching regulators during the transient process. This makes it possible to improve the quality of control processes in the system by using the features of individual regulators, in particular, the application of the switching principle made it possible to significantly increase the speed of the system in comparison with systems without switching and ensure the desired monotonic nature of the control process. The proposed approach is illustrated based on switchable P-controllers. The results of modeling the developed ship course control system are presented and discussed.