PID controller design for SSV BRP TARLAC (LD-601) ship heading using Ziegler Nichols tuning method

摘要

In this paper, Proportional Integral Derivative (PID) controller is adopted as an autopilot system for a ship to control yaw motion or ship heading control of SSV BRP TARLAC (LD-601). It is a ship made in Indonesia which is exported to Ministry of Defense of the Philippines. Mathematical model is based on the transfer function of Nomoto's second order SSV BRP TARLAC (LD-601) ship dynamics. The transfer function will be changed to state-space equation using inverse Laplace transform. Proportional-Integral-Derivative (PID) requires a tuning process to determine the best gain to produce optimal control signals. Therefore, in this paper we propose tuning parameters for PID using Ziegler Nichols method. Simulations using MATLAB 2015a are given to compare the effectiveness of the proposed PID controller and the behavior of system without using any controller. The input is defined as a step signal. From the simulation results, the response of the system for PID controller has a settling time of 1.83 seconds.