CONTROL METHOD OF TOWING SYSTEM MOVEMENT Russian patent published in 2017 - IPC B63H25/00 

FIELD: physics, control and alarm system.

SUBSTANCE: invention relates to the control method of the towing system movement . To control the towing system movement, continuous coordinate value is determined at the certain points within the loop of the towing vessel, the lateral offset from the desired position line of the center plane is calculated, the control signal under the specific law for individual elements or the entire propulsion and steering system of the towing vessel is generated, the specific coordinate system is used, its position depending on the vessel maneuvering characteristics for the withdrawal and retention of the steered vessel at the determined position or at the determined movement path is changed, two control signals are formed by the specific way depending on the positions of the points against the selected axis, the control signal for the automatic towing winch is formed according to the length of the towrope.

EFFECT: control of the towing system movement that ensures bringing of the towing and the towed vessel to the determined position on the plane and the movement along the determined path.

3 cl, 8 dwg