engleski

Analysis of the Nomoto ship model response to course changes using PID controller in Matlab/Simulink

This paper presents system based on Nomoto model of ship and its response to course changes using regulation loop for course control with PID controller. Central element of analysis is selecting an appropriate mathematical model of system being analyzed. Equations which describe ship motion are given by Newton laws of motion, considering two coordinate systems: inertial system X0Y0Z0 (ECEF – Earth Centered Earth Fixed) and XOYZ reference ship centered system. Reference model was created based on linearized equations for surging, swaying and yawing while other motions were ignored. Using designed system shown in this paper, response to course changes of a Nomoto model ship had been analyzed. Analysis had been conducted using Matlab/Simulink program package with first order Nomoto model using real parameters of a fully loaded tanker. Results of an analysis had been used to conclude about characteristics of presented system and its response to course changes along with possible improvements in such system.

Nomoto model ; ship dynamics ; PID controller ; ship course control ; Matlab/Simulink

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