SHIP CONTROL METHOD WHEN PERFORMING MOVEMENT ALONG A GIVEN TRAJECTORY Russian patent published in 2020 - IPC B63H25/00 G05D1/00 

FIELD: shipbuilding.

SUBSTANCE: invention relates to water transport and relates to control of ship movement by value of lateral displacements of its fore and stern points from current position of track line when it moves along given trajectory. Current position of the track line is defined as a straight line passing through two points on the plane; when the ship leaves the preset path, one of said points is the ship's center of gravity, the second is the given initial point of the ship's preset trajectory; when the ship moves along the specified path, the track is set at each stage of the ship movement in the form of a secant curve of the specified trajectory. Coordinates of points of the specified trajectory of movement, through which the track line passes at this stage of ship movement along the specified trajectory, are determined depending on the curvature of the GTM at the given stage of movement, dimensions of the ship and speed of its movement. Control of the vessel performing movement along the specified trajectory is improved on the value of transverse displacements of two points of the ship, nose F and stern A, from the current position of the specified line of the way, which is a secant curve of the GTM, presented analytically in the fixed coordinate system X₀,Y₀ in form of function y₀=f(x₀).

EFFECT: ensuring safe movement of a ship.

4 cl, 6 dwg