Ship Autopilot Software – A Case Study

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1196)


Software of a ship autopilot, particularly its structure and size, developed in cooperation with a Dutch company is described. It is written in ST language, typical for PLCs and automation systems, in CPDev engineering environment. HMI displays are created by a graphic editor. The autopilot provides typical functionalities, such as heading control, track control, turn by radius and rate of turn, involving PID controllers. Wave-induced motions affecting the rudder are filtered out. Ship dynamics is identified by zig-zag or sinusoidal maneuvers. Control and HMI programs are executed by a runtime virtual machine.


Ship autopilot ST language Control loops HMI Software measures 



This project is financed by the Minister of Science and Higher Education of the Republic of Poland within the “Regional Initiative of Excellence” program for years 2019 – 2022. Project number 027/RID/2018/19, amount granted 11 999 900 PLN.


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Department of Computer and Control EngineeringRzeszów University of TechnologyRzeszówPoland

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