METHOD OF FLAWLESS CONTROL OF SHIP IN DEPTH Russian patent published in 2014 - IPC B63H25/04 G05D1/00 

FIELD: transport.

SUBSTANCE: proposed method consists in using the depth setter, first filter of depth estimation signal, fourth filter of trim angle estimation signal and adder to input of which said signals are fed. Rudder deflection preset speed signal is fed from adder output to steering drive input. Then, two standby depth transducers, two ruder deflection angle meters, four filters, diagnostics and communication unit are used. Said signals are fed to the input of the latter. Diagnostics and communication unit generates difference module signal: $$\left|h_1-\underset{\_}{h}\underset{\_}{{}_1}\right|,$$ $$\left|h_1-\underset{\_}{h}\underset{\_}{{}_1}\right|,$$ $$\left|h_2-\underset{\_}{h}\underset{\_}{{}_2}\right|,$$ $$\left|{\psi }_3-\underset{\_}{\psi }\underset{\_}{{}_3}\right|,$$ $$\left|{\psi }_2-\underset{\_}{\psi }\underset{\_}{{}_2}\right|,$$ $$\left|{\psi }_3-\underset{\_}{\psi }\underset{\_}{{}_3}\right|$$ to be compared with preset constant C₁ and C₂, in case said modules satisfy the condition: $$\left|h_i-\underset{\_}{h}\underset{\_}{{}_i}\right|<C_1$$ and $$\left|{\psi }_i-\underset{\_}{\psi }\underset{\_}{{}_i}\right|<C_2,$$ then signals $${\displaystyle \sum {\underset{\_}{h}}_{\underset{\_}{i}}}$$ are fed to the unit of generation of mean value of depth estimation h_mean. Signals $${\displaystyle \sum \underset{\_}{\psi }\underset{\_}{{}_i}}$$ are input to the unit of generation of mean value of trim angle estimation $${\underset{\_}{\psi }}_{\underset{\_}{mean}}.$$ Depth mean estimation signal $${\underset{\_}{h}}_{\underset{\_}{mean}}$$ from depth mean estimation unit is fed to adder input. Trim angle estimation signal $${\underset{\_}{\psi }}_{\underset{\_}{mean}}$$ from trim angle mean estimation unit is fed to adder input.

EFFECT: higher accuracy and reliability of ship control.

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