FIELD: shipbuilding.
SUBSTANCE: invention relates to seamanship, in particular to control systems, which provide automatic control of movement of a marine mobile object (MMO) along a route. Control of MMO during movement along the planned route is performed on the basis of hierarchical principle: along lateral deviation, its trend and speed for MMO center of gravity relative to planned route, required rotation angle is determined, and deviation of current kinematic parameters of MPO motion from parameters of physically realized route determines required control action in form of rudder angle.
EFFECT: upgraded quality of ship voyage route and its tracking, safety and efficiency of maneuvering in cramped waters.
1 cl, 7 dwg
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