Design of Ship Model Dynamic Positioning System using PID-Based Microcontroller

Abstract

Design of Dynamic Positioning System (DPS) on Supply Vessel model using a PID-based control is an automatic control system to maintain the position and heading of a vessel at a certain point and direction using propulsion system. The DPS component consists of a position and heading reference system using an ultrasonic sensor and gyro accelerometer sensor, a control system using Arduino microcontroller for processing PID-based data, propulsion system using 2 motor thrusters on the stern and bow of the vessel, and a power system using batteries. The control system control the output response of the propulsion system. The input of the control system is a value of the measured distance and angle from the reference system that will then be compared with the value of the setpoint (desired input). The value of the setpoint is varied based on the distance of the vessel from the rig model and the normal angle of the vessel by 00. The control system compares both input values, and the difference between the values is the error value. The Control system processes the data and sends PID-based commands to eliminate error values to the propulsion system. Testing was conducted to analyze the ship’s response to maintain the position and angle at a certain point, encompassing the Sway and Yaw movements by providing an external thrust force on the ship in the form of current. The result was that the vessel was able to represent the response by maintaining its position at a certain point and direction. Based on the test, the distance deviation rate (error) was 0.06 m on the bow, 0.03 m on the stern from the setpoint, and the average time response to reach the setpoint was 9 seconds. The average rotation of the motor varied. The lowest rotation was 358 rpm and the highest rotation was 416 rpm. The value of a PID coefficient based on Zieger Nichols method was Kp = 1.2, Ki = 0.2, Kd = 3.5.