In order to achieve rudder roll damping for traditional autopilot and strengthen the safety of ship in rough seas, a simple robust control system is set up with 3 operating modes, including course-keeping, coursechanging and rudder roll damping. The controlling parameters can be optimized based on GA by detection of the standard deviation thresholds of course error and roll angle, when the sea state or the ship motion state changes. Simulation tests are carried on a nonlinear ship motion model, and the results indicate that the system can achieve good performance in course-keeping, course-changing and roll reduction in a wind band near the natural roll frequency and good parameters adaptivity to sea state.
Key words
autopilot /
rudder roll damping /
robust optimization /
generic algorithm
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