The Research On The Heading Control System Of The Twin-pod Electric Ship Propulsion

When navigating in the sea, heading control is one of the important topics in the ship control. Traditional heading control routine used conventional PID controller, which based on the certain mathematic model. But the traditional PID controller can not adjust the parameter based on the dynamic characteristics;always drive from the best work state.The speed and loading state are changed during the sailing, beside these, the wide, wave, flow affect navigation, the parameter changes a lot. Though we can estimate the parameter, the traditional controller which bases on the model control faces the challenge, such as robustness. PID controller uses processing error to reduce the total error which does not totally rely on the mathematical model. But traditional PID control can not reach the prospective goal, because PID can not adjust parameter online. Based on the research on the traditional PID control, this paper pays more attention to the nonlinear PID controller in order to feed the need of heading control.The first chapter of this paper introduces the development and feature of electronic drive especially the pod electric ship propulsion appliances. Chapter two introduces the theory of heading control. Chapter three and four analyze the structure and theory of the traditional PID controller and the nonlinear PID controller. Chapter five introduces how to design the PID controller of the Twin-pod electric ship propulsion. Chapter six use Matlab Simulink tool to do the system emulational research on zhongtiebohai No.1,which is the first ferry boat of the Yantai-Dalian Ferry.The results of emulation show that the control rule of the nonlinear PID controller not only has the better robustness,but also improves the capability of the closed loop system,the smaller range of going over the top and the better trail effect.It is a very practical control arithmetic and it will have extensive application foreground.