Development of automatic gain-tuning algorithm for heading control using free-running test data

• Published in: International journal of naval architecture and ocean engineering 2023, 15(0), , pp.1-9
• Main Authors: Kim, Jung-Hyeon, Kim, Su-Rim, Jo, Hyun-Jae, Yeo, Chan Young, Yeo, Dong Jin, Yun, Kunhang, Park, Jeonghong, Park, Jong-Yong
• Format: Article
• Language: English
• Subjects: Automatic gain-tuning; Free-running test; Sensitivity analysis; System identification; 조선공학
• ISSN: 2092-6782; 2092-6790
• DOI: 10.1016/j.ijnaoe.2023.100517

This study proposes an automatic gain-tuning algorithm for ships. The proposed algorithm is designed to tune the gains of the ship controller automatically, rather than using trial and error. The forward speed and steering models were derived by linearizing and simplifying the 3-degrees of freedom (DOF) nonlinear equation of motion of the ship. The initial control gains were calculated using an error dynamics model constructed by combining the steering and system models of the controller. The maneuvering simulations and sensitivity analysis of the control performance at various control gains were performed for gain-tuning. System identification was conducted based on derived dynamics models and free-running test data. The tests verified that the gain-tuning algorithm corrects the gains more accurately and rapidly than trial and error. In addition, the algorithm reduced overshoot by 85% compared to the initial control gains. •An algorithm for tuning the control gains of a ship controller was developed based a dynamics model of ship.•The forward speed and steering models were used for the dynamics model.•System identification was performed using the free-running test data.•The error dynamics model was constructed by combining the identified steering model and system model of the PD controller.•The algorithm automatically derives the control gain quickly and accurately compared to trial and error method.