SHIP'S MOTION CONTROL SYSTEM Russian patent published in 1998 - IPC

FIELD: control of submarine vessels in case of heavy disturbance moments after throwing special cargoes. SUBSTANCE: system includes diagnosis unit, sensor showing condition of actuating members, mismatch unit connected to actuating members through program execution unit. System is also provided with model of program execution unit, model of actuating members, error indicator, additional members and unit for switching on the additional actuating members. First output of diagnosis unit is connected to input of error indicators and second output of diagnosis unit is connected with additional actuating member unit through correcting action forming unit and additional actuating member switching-on unit which are connected in series. Output of model of program execution unit is connected to first input of diagnosis unit and to second output of diagnosis unit through actuating member model; third and fourth inputs of diagnosis unit are connected respectively to outputs of sensor showing state of objects to be thrown and sensor showing state of actuating members. Output of program execution unit is connected to fifth input of diagnosis unit. EFFECT: fail-safe property of system which provides for keeping the ship in tolerance range of deviations. 1 dwg