1998 Volume 34 Issue 7 Pages 689-691
This paper provides a simple and a safe automatic P, I, D gains tuning method using relay control, for typical marine controllers with PID control law. The on-board computer control system using relay control is applied to typical three types of ship's controller; (1) autopilot system, (2) yaw control system through bow-thruster and(3) diesel engine governor system, and the results of the full scale experiments using a small training ship are discussed.