| 摘要 |
FIELD: data processing.SUBSTANCE: invention relates to a method of controlling ship movement. To control program movement of ship on trajectory, computer of program movement generates a course, coordinates of movement trajectory, speed and acceleration of change of coordinates, measuring kinematic parameters of ship movement, specifically longitudinal and transverse components of ship speed, course, rectangular coordinates of ship, formed and measured values are transmitted to input of trajectory control system, control signal of given turning of ship is determined, required rudder angle is generated, required value of speed is generated, which is determined based on program movements and current deviations, as well as difference between direction of velocity vector and true heading of ship in a certain manner, determining required value of rotation of screw for tracking of specified speed of movement along trajectory.EFFECT: providing trajectory ship control with matched tracking of its program movement.1 cl, 7 dwg |
