PID marine engine speed regulation under full load conditions for sensitivity H∞-norm specifications against propeller disturbance

An improved PID tuning method is proposed for marine diesel engine governors which may encounter significant problems, under severe propeller load fluctuation due to weather and sea conditions. A reduced second-order transfer function of the marine propulsion plant is used for PI and PID speed regulators design that satisfies loop shaping requirements, subject to sensitivity H∞-norm specification. Performance robustness against neglected dynamics is demonstrated only for the proposed PID regulator. These PID schemes for main engine speed regulation at full load are validated in the actual case of the propulsion powerplant of a large containership.