A Comparative Study of PID Controllers and Lead-Lag Compensators for Ship Roll Stabilization

XVII International Conference on Systems, Automatic Control and Measurements, SAUM 2024 (pp. 39-42)

АУТОР(И) / AUTHOR(S): Darko Mitić , Zoran Milić

САЖЕТАК / ABSTRACT:

The paper deals with the ship roll stabilization using integrated fin rudder roll stabilizers designed on the basis of the linearized ship model. Two triplets of controllers for fin roll and rudder roll stabilization as well as for ship yaw motion control are designed and compared. The digital simulation results show that the lead-lag compensators designed using Bode plots may achieve better roll-reduction than traditionally designed PID controllers.

КЉУЧНЕ РЕЧИ / KEYWORDS:

stabilization, ship vessel navigation, PID control, lead-lag compensator, rudder control, fin control

ПРОЈЕКАТ/ ACKNOWLEDGEMENT:

This work was supported by the Ministry of Science, Technological Development and Innovation of the Republic of Serbia grant number 451-03-66/2024-03/200102.

ЛИТЕРАТУРА / REFERENCES

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G.N. Roberts, “Trends in marine control systems”, Annual Reviews in Control, vol. 32, pp. 263–269, 2008.
K.S. Kula, “An Overview of Roll Stabilizers and Systems for Their Control”, International Journal on Marine Navigation and Safety of Sea Transportation, vol. 9, pp. 405-414, 2015.
Y. Tipsuwan, P. Sanposh and N. Techajaroonjit, “Overview and control strategies of autonomous sailboats—A survey”, Ocean Engineering, vol. 281, pp. 1-23, 2023.