Ship’s Course Changing Controller in Low Speed under Wind Conditions
Abstract: Maneuvering in harbor
is considered as one of
the most sophisticated
and difficult maneuvers
in ship’s operation. Much
knowledge and experience
are demanded to
accomplish berthing. Automation
of berthing is
highly needed to meet the decrease of the number and aging of crew. In
berthing, the environmental factor that affects ship the most is wind while
current and wave affect the least. This wind effect is made worse because
ship’s speed will be slowed down during the berthing process. Therefore in this
part of research, effects of wind disturbance on marine vessels that are in the
process of berthing in the harbor were analyzed by using a turning test. The
influence of wind included in the process of designing a controller for the
ship to keep and change its direction. Basically, for both types of controller,
it is used Proportional
Derivative (PD) controller
type, only the
coefficients for each
controller have different parameters. A new algorithm for
controller to change direction under the influence of winds is used in this
study. The algorithm is based
on several factors.
The main thing
is to make
the same yaw
rate, either when
there is wind
or no wind. Results from
simulations show good performance when the ship changed direction or turn under
the influence of wind. The result is almost equal to the control of PD when
there is no wind.
Author: Sigit Arianto
Journal Code: jptinformatikagg120005
