DEVICE FOR GENERATING PATH FOR MOVING VESSEL INTO PARALLEL COURSE WHILE OBSERVING CONSTRAINTS ON CONTROL SIGNAL VARIATION RANGE Russian patent published in 2014 - IPC B63H25/00 

FIELD: physics; control.

SUBSTANCE: invention relates to tracking, particularly automatic vessel control systems. The device for generating the path for moving a vessel into a parallel course includes: an apparatus for setting the modulus of the maximum allowable control signal, a longitudinal velocity sensor, a computer for calculating critical parameters of the path for moving a vessel into a parallel course, an apparatus for setting the distance of displacement of the parallel course from the current course, a computer for calculating change in course angle Δϕ, the minimum radius R_m of the allowable optimum polynomial section (DOEPO), the length L of the straight section between two DOEPO, a sensor for the coordinates of the centre of mass of the vessel, a computer for calculating a set of parameters of boundary points of the first DOEPO, a course angle sensor, a computer for calculating output parameters of elementary sections, an apparatus for setting the modulus of the maximum allowable control signal, a computer for calculating a set of parameters of boundary points of the first DOEPO, a computer for calculating parameters of elementary sections. The path for moving the vessel into a parallel course, which consists of two DOEPO or three elementary sections, is generated at the output of the computer for calculating output parameters of elementary sections.

EFFECT: safer movement of a vessel into a parallel course.

12 dwg