Design and Experimental Evaluation o`f a PID Based Ship Rudder Control Prototype Referenced to SOLAS

Authors

  • Arif Rakhman Suharso Arif Politeknik Maritim Negeri Indonesia Indonesia
  • Ario Hendartono Politeknik Maritim Negeri Indonesia Indonesia
  • Amthori Anwar Amthori Politeknik Maritim Negeri Indonesia Indonesia
  • Slamet Supriyadi Universitas Persatuan Guru Republik Indonesia Semarang Indonesia

DOI:

https://doi.org/10.26877/asset.v8i2.2739

Keywords:

PID controller, HMC5883L, rudder control, SOLAS, Arduino

Abstract

The Proportional–Integral–Derivative (PID)-based ship rudder control system is an effective method for maintaining a vessel’s heading automatically. This study aims to design and evaluate a ship rudder control prototype in accordance with SOLAS safety standards. The research method employed is Research and Development (R&D), which includes needs analysis, system design, prototype development, and model testing. The cargo ship prototype is equipped with an HMC5883L compass sensor, an Arduino microcontroller, and a servo motor as the rudder actuator. Data processing and PID algorithm implementation are carried out using Visual Basic software. The PID parameters used are Kp = 0.001, Ki = 0.001, and Kd = 0.2, obtained through a tuning process. Testing was conducted in a controlled pool under calm water conditions. The results show that the system achieves a steady-state condition in an average time of 21 seconds with minimal overshoot and small deviation from the setpoint, while complying with the SOLAS requirement of a maximum rudder angle of 35°.

Author Biographies

  • Arif Rakhman Suharso Arif, Politeknik Maritim Negeri Indonesia

    Department of Engineering, Politeknik Maritim Negeri Indonesia, Wringin Putih Village, Bergas District, Semarang Regency 50552, Central Java, Indonesia

  • Ario Hendartono, Politeknik Maritim Negeri Indonesia

    Department of Nautical, Politeknik Maritim Negeri Indonesia, Wringin Putih Village, Bergas District, Semarang Regency 50552, Central Java, Indonesia

  • Amthori Anwar Amthori, Politeknik Maritim Negeri Indonesia

    Department of Nautical, Politeknik Maritim Negeri Indonesia, Wringin Putih Village, Bergas District, Semarang Regency 50552, Central Java, Indonesia

  • Slamet Supriyadi, Universitas Persatuan Guru Republik Indonesia Semarang

    Faculty of Engineering and Informatics, Universitas PGRI Semarang, East Sidodadi, Dr. Cipto Street 24, Karangtempel, East Semarang District, Semarang City 50232, Central Java, Indonesia

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Published

2026-03-31

Issue

Vol. 8 No. 2 (2026): February-April

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Articles

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