METHOD OF ANGULAR SPEED CONTROL OF A VESSEL-CATAMARAN AT "STRONG" MANEUVERS Russian patent published in 2019 - IPC B63H25/04 G05D1/00 

FIELD: navigation.

SUBSTANCE: invention relates to navigation, to automatic control of movement of vessel-catamaran with two propeller-rudder columns (PRC) in implementation of "strong" maneuvers. Signals are used: current angular velocity values ω and acceleration dω/dt of the vessel in the horizontal plane relative to the centre of mass, which is the same for the two PRC angular velocity δ; constant values of: ship length L, connected moment of inertia of ship relative to vertical axis J_ω, identical for two PRC thrusts of propellers Tv, amplification factor k_δ and time constant T_δ PRC drive; values of constant of setting actions and initial data: specified angular speed ω^* vessel relative to its centre of mass; free parameter T_u, having a time constant and intended to control the speed of the transient process from the angular velocity, of step h of discreteness with respect to time when calculating control v, which is simultaneously supplied to both PRC drives. Control action v is calculated through fixed time intervals with duration h by terminal control of nonlinear systems – final state method.

EFFECT: higher accuracy of control system operation.

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