Design and simulation analysis of ship automatic anti-interference heading controller

Ships ‘sea track and systems have strong uncertainties and non-linearities, and are limited by sea wind and waves interference and the operating ability of the autopilot, which leads to many difficulties in designing course controllers. Because of the above problems, a mathematical model for sea wave disturbance and a nonlinear mathematical model for ships with steering gear constraints have been developed. Based on a brief introduction to the principle of ADRC, a ship ADRC course controller method is proposed. Simulation experiments have proved that the controller is highly robust to changes in the control object model, changeable characteristics of the marine environment, parameter uncertainties and non-linearity of the ship’s sailing track; the control process switches the course with small rudder angle, smooth operation and short time consuming., thereby fulfilling the high accuracy requirements for controlling the course.