Influence of Ship Motion Nonlinearities on the Course Controller Design
| Authors: | Graswald Markus, University of Rostock, Germany
Korte Holger, University of Rostock, Germany
Lampe Bernhard P., University of Rostock, Germany |
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| Topic: | 7.2 Marine Systems |
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| Session: | Marine Systems II |
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| Keywords: | Ship control, Manoeuvrability, Stability, Parameter estimation,Least-squares approximation |
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Abstract
Since a ship yard usually provides insufficient data fordeveloping a ship control system, the course and track controllerdesign is based upon a Nomoto model determined with a Clarkeestimation of hydrodynamic derivatives. Several ships examinedshow a poor system performance with a course control derived fromthese models besides parameter identification problems of adaptivecontrol concepts. Hence, the steering quality of the Mariner classis discussed and linear model parameters are obtained by aninterval approximation of Dieudonne's spiral curve in theworking range of the rudder. This approach leads to a bettercontrolled nonlinear process.
