Abstract
In order to develop a simple PD controlled autopilot system with rudder roll damping, the course-keeping controller and rudder roll damping controller are designed and adaptively optimized based on GA-PD method. The parameters of controllers are to be optimized by generic algorithm when the detected standard deviation of the course error or roll angle exceeds the set threshold values. The simulation tests are done on a nonlinear ship motion model, and results show that the controllers achieved good disturbance rejection near the ship’s natural roll frequency band, and stable performance of course-keeping and changing, with strong adaptivity to sea states.
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