MATHEMATICAL MODEL OF THE OBSERVER FOR THE VESSEL POSITION MAINTENANCE CONTROL SYSTEM
DOI:
https://doi.org/10.32782/mathematical-modelling/2022-5-1-7Keywords:
ship, model, control, control system, positioning, observer, controllerAbstract
The article considers the synthesis of the observer model for the ship position control system based on the use of a comprehensive model consisting of two components: the positioning control system model and the model that allows this system to respond to external stimuli in the form of certain weather conditions. Models for estimating the quantitative and qualitative indicators of modern ship management systems are based on the use of a generalized mathematical model, which can take different forms depending on the influence of numerous factors on their structure and parameters. Modern control systems for ships and ship power plants are automated technical complexes of high complexity, designed to effectively perform operations that are determined by the purpose and specifics of the ship in specific conditions. High-precision positioning systems are based on closed control systems using PID and PID2 controllers in traction and position support systems. The mathematical model of the ship is a complex system of nonlinear differential equations, the integration of which is possible only by numerical methods with a focus on results suitable for solving practical problems. In this article the author solves the urgent problem of using an observer of external factors in the positioning of the vessel, whose task is to provide a corrective signal to the main control system, taking into account the impact on weather conditions. One solution is to use a model that allows the use of current disturbance factors acting on the ship and to generate adjustments for the positioning system based on the forecast of changes these factor’s values. The paper presents the results in the form of graphs of changes in the deviation of the position of the vessel, based on the obtained model of the observer, the synthesis of which is also described in the article. The article also shows comparative results with the use of the observer and without its use.
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