Design of ship course keeping controller based on zero-order holder and nonlinear modification

Table 1. Variable values for "Yupeng " ship
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Table 1. Variable values for "Yupeng " ship
参数数值参数数值
L/m 189 $ C_{\mathrm{b}} $ 0.72
B/m 27.8 $ {\nabla}/\text{m}^3 $ 42293.0
$ d_{{\mathrm{m}}} $/m 11 $ V/{\text{kn}} $ 17.6
$ X_{{\rm{c}}} $/m 1.8 $ {A_{\text{R}}}/{{\text{m}}^2} $ 38

Table 2. Qualitative analysis results
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Table 2. Qualitative analysis results
控制器延迟时间/s 超调量/% 能耗 E
非线性修饰的PID控制器 106 5.7 2.8 1
本文控制器 68 4.9 1.9 0.73

Table 3. Qualitative analysis results
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Table 3. Qualitative analysis results
控制器延迟时间/s 超调量/% 能耗 E
非线性修饰的PID控制器 112 9.9 3.66 1
本文控制器 78 9.2 3.08 0.83

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Xianku ZHANG, Haochen HONG. Design of ship course keeping controller based on zero-order holder and nonlinear modification[J]. Chinese Journal of Ship Research, 2024, 19(1): 84

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