A Comparative Study of PID

tuning methods for Cargo Ship

and Oil Tanker
Introduction
The design of ship autopilots has remained challenge for more than a century. Almost all
types of control algorithms including the Proportional Integral Derivative (PID) [1], Squares
Gaussian (LQG) [2] [3], Pole placement [4] [5], Fuzzy logic [6] [7], Neural Networks [8] [9]
[10], and many more have been investigated.
However, almost all commercial ships use the conventional PID control. The performance of
a PID controller depends on the tuning methods used. More than 100 methods of PID tunings
are available. Some of them are better than others.
The main purpose of this project is to explore any four best methods of PID controller design
for two types of ships, namely an oil tanker and a cargo ship. The performance of the PID
controllers will be evaluated under different operating and environmental conditions. The
operating conditions include the varying speed, varying depth of water and loading
conditions. The environmental conditions include the effects of waves, wind and ocean
currents.
The specific objectives are as under:

Objectives:
1. Selection of suitable mathematical models of ships through comprehensive literature
review.
2. Study of main methods of PID controllers design.
3. Selection of four most suitable methods of PID controller design.
4. Design of ship autopilots using the selected PID controllers.
5. Testing and comparison of the design methods under various operating and
environmental conditions.

Methodology:
The mathematical equations of ship motion will be simulated by using MATLAB / Simulink.
Also PID controllers will be designed in MATLAB environments. The models of waves and
ocean currents etc will also be simulated and a closed loop control system will be developed.

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