To address the need for ships to accurately track complex submarine cable routes in detection tasks, a Model Reference Adaptive PID (MRAC-PID) control method is proposed, along with a complete tracking system integrating "signal perception - error calculation - adaptive control - closed-loop feedback". The detection process involves: acquiring the submarine cable’s magnetic field via electromagnetic devices, calculating the ship-cable horizontal offset and heading deviation angle, establishing an MRAC-PID control law model based on dual errors, adjusting PID parameters in real time through an adaptive law, generating heading angular velocity commands to drive actuators, and achieving continuous tracking via closed-loop feedback. Simulations on MATLAB/Simulink (with a ship planar motion model and simulated cable routes) verify the method’s effectiveness. Results confirm that MRAC-PID can adapt to different cable configurations, offering excellent tracking accuracy and system universality, and providing reliable technical support for practical submarine cable route detection.
 

Submarine Cable Route Detection,MRAC-PID,trajectory tracking control,MATLAB/Simulink Simulation