Autopilot and track-keeping algorithms for high-speed craft

摘要

A track autopilot predictor (TAP) system for high-speed craft with Watergate propulsion systems has been developed and installed on-board four catamarans. The TAP system includes automatic control modes for steady-state course-keeping, turning and track-keeping. A special harbour mode and a hydrodynamic predictor based on a non-linear maneuvering model of the ship are also included. The paper descries the design of the control algorithms used in the autopilot and track-keeping systems. The design is based n a combination of velocity scheduling, pole placement and a feed-forward model for turning. The performance of the algorithms is illustrated in full-scale experiments.