Citation

Zhang XK, Xiao WC, Guo C. J. Traffic Transp. Eng. (Xi'an, Shaanxi) 2005; 5(4): 77-81.

Copyright

(Copyright © 2005, Chang'an Daxue)

DOI

unavailable

PMID

unavailable

Abstract

In order to improve ship control performance, reduce ship energy consumption when ship navigates at low speed in inward-and-outward shallow water under strong wind and wave disturbance, third-order Nomoto model was chosen, ship speed and water depth were reflected into the changes of its parameters, a robust PID controller with adaptability based on closed-loop gain shaping algorithm was designed. The nonlinear mathematical model of ship motion with wind and wave disturbance was built and realized through programming its S-function. The designed PID controller was used to control the nonlinear mathematical model of ship motion in the conditions of various water depths, ship speeds and sea states. The simulation result shows that the course-tracking effect is satisfactory, the steady state error is zero, the rudder angle is reasonable, and the designed controller has good performance for the nonlinear mathematical model.