УПРАВЛІННЯ СУДНОМ ЗА ЗБУРЕННЯМ ПРИ ПОСЛІДОВНОМУ ЗЧИСЛЕННІ ТА ОБСЕРВАЦІЇ РУХУ СУДНА

Abstract

Controllability is an important maritime quality that determines the efficiency of ship handling. When developing course control systems, it is necessary to take into account the operational characteristics of the vessel, as well as external factors affecting it. The complexity of ship handling, as an object of handling, arises due to the continuous influence of various factors that affect the controllability of the ship. The environmental conditions in which the course management task has to be solved are diverse - stormy weather, ice conditions, shallow water, tides, restricted waters(congested areas), proximity of other vessels, etc. All these factors cannot be comprehensively taken into account by traditional mathematical methods, while ensuring the necessary adequacy of real processes. This paper considers existing approaches to controlling the movement of a ship on a course, such as course control, disturbance control, ship movement control on a course based on the principle of long-term prediction, lateral deviation, intellectual approaches to ship control. The most necessary way to improve the quality of the vessel's course is to control the disturbance by consistently calculating and observing the vessel's movement. The main disturbing effect in stabilizing the course is caused by sea waves. In stormy weather, forced oscillations are imposed on the ship's own motions on the course. The amplitude and period of yawing depend on the level of sea state, the direction and strength of the wind, the tonnage of the vessel, its loading condition, speed, effectiveness of the rudder and the law of control. There is a need to increase the accuracy of determining the direct relationship between the measured value of the external perturbation and the magnitude of the yaw angle. The article provides an algorithm for calculating the return of the vessel to the path line, taking into account the modulus and direction of natural disturbance obtained as a result of observation of the ship's position.