The control method for ship tracking when navigating through narrow and curved sections

Abstract

A track control method is proposed to solve the problem of manual steering difficulties in narrow and curved sections. The performance of a ship heading controller is affected by various factors, such as delay of the ship steering gear, external environmental disturbances, and variations in ship's speed. Firstly, a Smith optimal PID heading controller is designed. Then, a speed control method based on dichotomous method is proposed to accurately control ship speed and improve the rudder efficiency. Finally, a track control method based on model prediction and feedback compensation is proposed, considering the coupling relationship between course control and speed control. The Lantang Channel is selected as the experimental water area, and comparative simulation experiments are carried out under static water and environmental disturbance. The pre-planned route information is taken as input, and the target course at the current moment is calculated by the guidance method. The target course is used as the input of the course controller to calculate the rudder angle to control the ship's motion, and the new ship position is compared with the planned route information. The above steps are repeated to track the planned route. In order to make the ship pass the curve smoothly, the target speed of the control point is preset according to the sailing convention of decelerating first and accelerating later, and the variable speed time point and variable telegraph are solved by the dichotomy. The results are as follows: (1) The maximum track deviation and speed deviation of the Smith-OP PID are 2 m and 0.21 kn, respectively, without considering environmental interference. The maximum track deviation of the traditional PID is 8 m. (2) The maximum track deviation and speed deviation of the Smith-OP PID are 25 m and 0.27 kn, respectively, under the set environmental interference. The maximum track deviation of the traditional PID is 49 m. (3) The track control method is consistent with the practical practices of "deceleration before acceleration" and "hanging high and taking low". In summary, the track control method can be well applied to narrow and curved sections, and provide a theoretical basis for subsequent research on autonomous navigation and intelligent ships.