Design Of Controller For Heading Control Of Ship Autopilot And System Simulation

The development of economic and the marine resources development jointly promote the rapid prosperity of the shipping industry,which result in the increase of sailing density and accidents.In addition,the demand for large tonnage and high speed ships is increasing,at the same time how to complete the navigation tasks safely,fastly along with high efficiency,not only to shorten the voyage and reduce the fuel consumption,but also to carry out more navigational tasks with less crew and manpower.All of this ultimately comes down to a conclusion: People need a ship motion control system with high efficiency,precision and automation.Autopilot is the main equipment of ship maneuvering,and heading control is the most basic and most important function.So in this paper,the ship heading control is the research emphasis.In this paper,the principle and mode of ship heading control are explained at first.Aiming at the complicated disturbance,along with the uncertainty caused by the ship itself,some analysis and research has been done.Then a final decision is made: the article will take the Norrbin response ship motion model as the control object.At the same time,some work has been done to generate equivalent simulation of the disturbance model,so as to prepare for the following simulation research.In the aspect of control algorithm,the classic PID method is used to design heading controller,it result that the control effect is not satisfactory.Therefore,the controller parameters are optimized by using the nonlinear control system optimization tool provided by MATLAB,which proves a much better result.Then the shortcomings of the PID control are analyzed,the tracking differentiator(TD),the extended state observer(ESO)and the nonlinear state error feedback(NLSEF)are given seperately.And the principle of the part of ADRC is simulated and verified.The main part of this paper is the design of the ADRC heading control system.First,write control algorithm with s function,and it is encapsulated as a SIMULINK module for control system.The control system model is also built with the SIMULINK simulation tool.Genetic algorithm is applied for tuning the nonlinear feedback gain coefficients of ESO and NLSEF in ADRC,which greatly simplifies the difficulty of manual setting.When the design of the controller is finished,the optimized PID controller and the ADRC controller are simulated.The results show that the ship course control system based on ADRC has a great advantage in disturbance rejection.At the same time,the response amplitude of the rudder angle of the ADRC is small,the rudder motion is slow and the heading is not overadjusted.The control effect of the two controller accompanied with parameter perturbation is simulated,and the results also show that the ADRC controller has better robustness.