Abstract
Environmental conditions affects ship’s course. Hence, it affects velocity, and efficiency of fuel consumption, which is an important research topic nowadays. Therefore, it is important to take it into account in the design of ship’s autopilots. In this paper a method is proposed to compensate for wind’s influence, which is based on wavelet transform by introducing the so called wavelet anti-filter. The anti-filter is added to the feed-forward branch of the classic autopilot design scheme, which consists of feedback loop and PID controller. The anti-filter branch represents a modification of the classic scheme.
Highlights
Wavelets were used in the system identification (SI), which is necessary for the closed loop control system design based on the model predictive design [9]
“Naše more” 62(4)/2015., pp. 243-246 in this paper is based on wavelet anti-filter which is added to compensate for wind influence
Where w1 is the wind’s influence to the control signal, which is calculated by measurement data, and w2 is the output of the anti-filter
Summary
Wavelet anti-filter feed-forward control ship’s autopilot PID control MISO The most frequently used autopilot design involves the PID controller. Wavelets were used in the system identification (SI), which is necessary for the closed loop control system design based on the model predictive design [9]. A wavelet based SI method has been proposed in [10].
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