Session: 06-12-04 Ship Hydromechanics IV

Paper Number: 127458

127458 - The Impact of Pid Controller Parameters on the Maneuvering of Two Ships at Different Water Depths 

The maneuvering of two vessels may lead to a dangerous collision risk due to significant hydrodynamic interactions, particularly when operating in shallow waters. To ensure navigation safety, the implementation of an effective ship motion controller is essential. This paper aims to investigate the impact of PID controller parameters on the performance of PID controller in the maneuvering of two ships. In present work, a maneuvering model, which accounts the hydrodynamic interactions, is established using MMG model. The shallow water effects on hydrodynamic derivatives are estimated by empirical formulas, and the hydrodynamic interaction forces between ships are evaluated by a 3D potential flow code. In the prediction of hydrodynamic interaction, the influence of fluid viscosity and the variation of free surface on hydrodynamic interaction are both neglected, and the double body model and mirror image technique are used to model the free surface and bottom, respectively. A conventional PID controller is used for course keeping, with the desired heading angle is determined via line-of-sight (LOS) guidance. The simulation of two ships overtaking is conducted at different ship speeds, initial lateral distances, water depths, and impact of PID controller parameters, such as lookahead distance, relative damping ratio, control bandwidth, on the performance of PID controller is revealed.

Presenting Author: Chen Xu Harbin Engineering University

Presenting Author Biography: Mr, Chen Xu is a PhD student of naval architecture and Ocean Engineering at College of Shipbuilding Engineering, Harbin Engineering University, his research area is Ship hydrodynamics, maneuverability and motion control.

Authors:

Chen Xu Harbin Engineering University
Xueqian Zhou Harbin Engineering University
Huilong Ren Harbin Engineering University
Carlos Guedes Soares Centre for Marine Technology and Ocean Engineering (CENTEC), IST, Lisbon University
Serge Sutulo Centre for Marine Technology and Ocean Engineering (CENTEC), IST, Lisbon University