Heading controller for performing a IMO Turning Circle maneuver.

Collaboration diagram for Turning circle maneuver:

Author: Mats Nåvik Hval

Date: 12.08.2011 MNH: Initial version.

Heading controller for performing a IMO Turning Circle maneuver Performs a turn of 720 degrees.

From TimeOfExecute the RudderAngle output is a constant rudder angle (in radians), until the integrated yaw rate (state Yaw) has reached 4 pi (720 degrees); then it is 0. The rudder angle is the smaller of MAX_RUDDERANGLE and 35 degrees, with the sign of the direction: p gives a negative angle and s a positive angle. The parameter NumberOfTurns is read but the code does not use it: the turn always ends at 720 degrees.

Input ports

Name	Width	Description
OmegaNED	3	Angular velocity of the ship in the NED frame; its third component is integrated into the state Yaw

Output ports

Name	Width	Description
RudderAngle	1	Rudder angle command in radians

Configuration parameters

Name	Width	Description
MAX_RUDDERANGLE	1	Largest rudder angle in degrees. Values above 35 are limited to 35. Default 35
TimeOfExecute	1	Start time of the turn. Default 10. Unit not stated in the code
DirectionOfTurning	1	String p or P (negative rudder angle) or s or S (positive rudder angle). Default p. Any other value is a parameter error
NumberOfTurns	1	Integer. Default 2. Read but not used by the code

States

Name	Width	Description
Yaw	1	Integral of the third component of OmegaNED. Initial value 0