Pitch Motion Stabilization by Propeller Speed Control Using Statistical Controller Design

This paper describes dynamics analysis of a small training boat and a possibility of ship pitch stabilization by control of propeller speed. After upgrading the navigational system of an actual small training boat, in order to identify the model of the ship, the real data collected by sea trials were used for statistical analysis and system identification.

This analysis shows that the pitching motion is indeed influenced by engine speed and it is suggested that there exists a possibility of reducing the pitching motion by properly controlling the engine throttle. Based on this observation, a controller is designed using statistical optimal control. Controller robustness is investigated and recorded data of motion in a seaway are used to show it is feasible to reduce pitch motion in waves