PID compensating model for design of ship's autopilot

摘要

This paper proposes an autopilot system using a PID compensating model to satisfy performance required for the automatic navigation of ships under various marine circumstances. The conventional autopilot system using PID controller, has difficulties in control of overshoot and compensating nonlinear characteristics of ships. The autopilot system using the proposed PID compensating controller has an ability to reduce the overshoot, to compensate nonlinear characteristics and, to turn at constant angular velocity. Therefore, this could have an ability to turn ship's course rapidly without overshoot through procedures of acceleration, constant, and deceleration of angular velocity for large course-changing. In this paper, using a PID compensating control autopilot system of ship that could overcome the non-linear factor of ship and disturbance, and compared the result through simulation to PID controller has been used frequently. Effectiveness of the proposed algorithms has been verified and demonstrated through simulations.