AN OPTIMISING FUNCTION FOR ADAPTIVE SHIPS AUTOPILOTS
Experiments have been conducted on a free running 1/40th scale model of a 16,000 ton container ship. The model is fitted with a directional gyro and a standard autopilot which has adjustable parameters of proportional, derivative and integral gain. Fan thrusters which are positioned fore and aft are fitted to provide servo controlled lateral thrust, so that external yaw moment disturbances and/or lateral forces may be applied while the ship is running. The time to complete a measured run, under a preselected, fixed, autopilot controlled course was obtained, and these tests were repeated for variations in the autopilot parameters of gain and derivative action time constant. The yaw and rudder angles are recorded during each test and these with their derivatives enable the relative magnitudes of the contribution of each of the variables to the time lost during a run to be computed. Thus a cost function may be derived which will permit the calculation of the optimum autopilot parameters of gain and derivative action to minimise the time lost due to external yaw disturbances.
- Proceedings Fifth Ship Control Systems Symposium, David W. Taylor Naval Ship Research and Development Center, Annapolis, Maryland, October 30-November 3, 1978, Volume 3.
David Taylor Naval Ship R&D CenterBethesda, MD USA 20084
- BROOME, D R
- Lambert, T H
- Publication Date: 1978
- Features: References;
- Pagination: 17 p.
- TRT Terms: Automatic pilot; Automatic pilot; Automatic steering control; Containerships; Rudders; Ship motion; Steering; Transfer functions; Yaw; Yaw
- Old TRIS Terms: Model testing; Rudder control systems; Steering dynamics
- Subject Areas: Marine Transportation; Safety and Human Factors; Vehicles and Equipment;
- Accession Number: 00187964
- Record Type: Publication
- Source Agency: David Taylor Naval Ship R&D Center
- Report/Paper Numbers: Proceeding
- Files: TRIS
- Created Date: Feb 3 1979 12:00AM