Line of sight waypoint guidance for a container ship based on frequency domain identification of Nomoto model of vessel

Abstract

CIFER software is used to identify steering and roll dynamics of a container ship. In this software, advanced features such as the Chirp-Z transform (CZT) and composite window optimization are applied to the time history of steering and roll dynamics to extract high quality frequency responses. From the extracted frequency responses, two linear transfer functions of Nomoto model are fitted for yaw and roll dynamics of the vessel. Based on the identified Nomoto model, a PID heading controller and a Kalman filter observer are constructed. The simulation results of heading controller for line of sight (LOS) waypoint guidance show excellent tracking of pilot inputs in the presence of wave induced motions and forces.

Keywords

container ship / Nomoto model / Kalman filter / frequency domain identification / CIFER software

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