Heading Control on Twin Thruster USV Using Wind Direction Sensor and Electronic Compass Based on PID Controller

Abstract Unmanned Surface Vehicles (USVs) can be operated on water surfaces in rivers, lakes, canals, shallow seas, deep seas, or other types of waters. Twin screw has better efficiency than conventional propulsion using rudders in terms of mechanical transmission and space requirements. This propulsion system works by adjusting the difference in rotation speed of the left and right propellers to control the ship’s course. USV uses a wind direction sensor and electronic compass combined with the Proportional-Integral-Derivative (PID) algorithm to control USV’s heading. The wind direction sensor controls the USV’s course based on wind direction and the electronic compass functions to provide a reference for the USV’s course. The study results show that at a speed of 0.78 m/s, the USV can change course towards the wind source in 3 seconds with a turn rate of 2.5°/second from the home position. At the same speed, the USV can return the USV’s course to the 0° reference in 4 seconds when given a disturbance of 45°. The USV speed range is between 0.14 m/s – 29.7 m/s with a thrust value between 0.4 lbs – 3.2 lbs. In dry-run testing, the USV propeller produced 3950 rpm at optimal speed.