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Publications
Xu, C., Zhou, X.Q., Ren, H.L., Guedes Soares, C. and Sutulo, S. (2024), The impact of controller parameters on the maneuvering of two ships at different water depths, 43rd International Conference on Ocean, Offshore and Arctic Engineering (OMAE2024), 9-14 June, Singapore, Singapore, Paper No: OMAE2024-127458, V05BT06A029.
This paper aims to investigate the impact of controller parameters on the performance of a PID controller in the maneuvering of two ships. In present work, a maneuvering model, which accounts the hydrodynamic interactions, is established using the 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 simulations of two ships overtaking are 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.
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