Using PID-controller for ship course control under parametric uncertainty

• Grinyak V.M.

  Grinyak V.M. Vladivostok State University of Economics and Service. Vladivostok. Russia

• Pashin S.S

  Pashin S.S. Far Easten Federal University. Vladivostok. Russia

The  paper  is  devoted  to  the  problem  of  marine  traffic  safety.  A  special  place  within  the framework of this problem is occupied by the task of planning the path: the trajectory of the vessel’s movement in the local water area and the transition route from the port of departure
to the port of destination. The purpose of planning the vessel's trajectory in the local water area is to ensure navigation safety in the conditions of collective movement and geographical features of the water area. In the present work, the task of controlling the vessel when it fol
lows a program trajectory is considered.
The article notes that the error of a priori ideas about the model of vessel movement can significantly affect the behavior of the vessel in the management process, the accuracy of control may become insufficient in conditions of high traffic intensity, which can lead to dangerous approaches of vessels. To solve this problem, it is proposed to include in the ship's control system a PID controller that operates on the deviation from the course, the integral from this deviation and its derivative, and also the function of identifying the model of movement of an
object using the speed gradient method, implementing a closed system. As a model of the movement of the vessel adopted the well-known model Nomoto second order.
The article is accompanied by the results of modeling the proposed ship control system. It is shown that it is able to work within a single process in real time and respond adequately to changes in the parameters of the motion model.

Keywords: marine safety, ship control, trajectory, PID-controller, Nomoto model, modelling.