Ship’s Course Changing Controller in Low Speed under Wind Conditions

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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.
Keywords: PD Controller, Wind Influence, Automatic Berthing, Neural Networks
Author: Sigit Arianto
Journal Code: jptinformatikagg120005

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