Research On Intelligent PID Control Algorithms For Ship Steering

In this paper, mainly do research in intelligent PID control algorithm for ship steering control. The main contents of this paper are:discussing the method to establish ship motion mathematical model used in the paper, test validation of the model though simulated ship maneuvering test. Introduce the neural network algorithm into PID control, using BP neural network tuning three parameters of PID controller, realized the ship course control; research the designing of controlling system which based on genetic algorithm tuning PID, applied GAPID to ship course control verified the global search ability of genetic algorithm by simulation compared to conventional PID controller and shows the superiority of GAPID.There are mainly two parts in researching ship course control:establishing the mathematical model of ship motion, designing the intelligent controller which based in intelligent control theory.Following parts are included in MMG model which researched in the paper: hydrodynamic and torque caused by the water working on the hull, thrust and the moment caused by the propeller, lift and drag model of the rudder, disturbance force and torque caused by the wind and the current, the interference between the rudder and the hull as well as with the propeller, In the paper ship motion mathematical model is established according to the appropriate method. And according to the comparing of actual ship model test data with the simulation data verified the availability of the model.Fuzzy logic, neural networks, genetic algorithms and other intelligent fusion algorithm combined with PID control, is becoming a promising direction of ship steering control. Paper designed BPPID and GAPID, and apply these controller into ship course control, the simulation results show that these intelligent PID control algorithm effectiveness.Because of the affection on world economy and trade by financial crisis and people more and more pay attention to environmental protection and green economy, low speed navigation is becoming our new trends of the shipbuilding industry and many company have already lowed down their ship speed, and with its successful application,the feasibility have been partly proved. But if we cut the bulk carrier's speed by 4 to 5 knots down, the ship's maneuverability remained to be researched.