DEVICE FOR GUIDING VESSEL ON NARROW SECTIONS OF CHANNELS Russian patent published in 2010 - IPC G01C21/14 

FIELD: physics; control.

SUBSTANCE: invention relates to instrument making and can be used in systems for automatic control of longitudinal motion of a vessel. To achieve the given result, the device additionally includes a sensor for detecting coordinates of the centre of mass of the vessel. The automatic course angle regulator is made in form of a PID controller which is fitted with units for calculating the derivative and the integral of lateral deviation of the vessel from a given linear path, four comparator units, a multiplier, a low-pass filter, units for calculating the angle of helm from a linear control law, for calculating the angle of helm and for generating the control signal. Presence of comparator units, units for calculating the angle of helm from a linear control law, a low-pass filter provide the given angle of helm and makes easier actuation of the helm without reducing accuracy of control.

EFFECT: more accurate control.

2 dwg