The Influence of the Ship's Steering Machine Over Yan and Roll Motions
Résumé
The steering machine is a nonlinear system, with two important limitations:
the maximum rudder angle and rudder rate. Therefore, the commands from yaw and
rudder-roll control systems are modified and the expected effect is not always the
optimum one. It is important to know the influence of the steering machine, trying to
avoid the limitations or to include them into the control law. The goal of this paper is to
analyze the steering machine limitations and their influence over yaw and roll motions
of the ship. Also, some expert rules are generated, which can be used to implement
more efficient control laws.