METHOD OF CONTROLLING SHIP WHEN MOVING ALONG GIVEN TRAJECTORY Russian patent published in 2024 - IPC G05D1/20 B63H25/00 

FIELD: water transport.

SUBSTANCE: invention relates to ship motion control by value of transverse displacements of its fore and aft points from preset motion trajectory (PMT). When the ship enters the specified initial point of the PMT, the ship movement is carried out along the track line, the current position of which is determined in the form of a straight line passing through two points on the plane, one of said points is the center of gravity of the ship, the second is a predetermined starting point of the ship’s PMT; when the ship moves along the PMT, which is a circular arc, transverse displacements of fore and aft points from PMT are determined using values of coordinates of fore and aft points of ship, coordinates of center of circle and radius of circle.

EFFECT: improved control of the ship, which is moving along the PMT, which is an arc of a circle, by the value of the transverse displacements of the two points of the ship, fore F and aft A, from the PMT, which position in the fixed coordinate system is determined by coordinates of the center of the circle and its radius, and thereby providing energy efficiency of controlling the movement of the ship along the PMT due to the control algorithm simplification.

6 cl, 6 dwg