A Prototype of a Cascade Ship Autopilot Implemented in the CPDev Environment

Ship autopilots can be divided into conventional, only capable of maintaining a given heading, and advanced, which additionally follow „track” connecting the navigation points along ship’s route. The article presents structure prototype autopilot ship implemented in CPDev environment formulas allowing to determine settings course controller (PID) track (PI) cascade control. For each them, individual design parameters were adopted define dynamics closed control loop. These rules applied software prototype, created cooperation with Dutch company designing visualization systems for ships.