FIELD: transport.
SUBSTANCE: invention relates to ship handling. Automatic ship handling is normally efficiently performed with the help of stern plane. However, given several stern planes or at sea motions or at wind, control quality decreases. Disturbing moments are compensated by varying rpm of the ship LH and RH propelling screws. Magnitude of disturbing moment is defined from mean rudder angle.
EFFECT: improved automatic ship control due to compensation of whatever disturbing moments.
1 dwg
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