| 摘要 |
Steering control system (7) for a vessel (1) including set of propulsion units including at least two propulsion units (5,6) pivotally arranged in relation to the hull (2) of the vessel (1) for generating a driving thrust of said vessel (1) in a desired direction, said control system including a steering control instrument (10,11) for generating input signals for control of a desired route of the vessel a control unit complex (8,9) controlling the angular position of said propulsion units (5,6), said control unit complex being arranged for receiving input signals from said steering control instrument (10,11), which input signals represents a general direction of movement of the vessel and thus a general desired angular position of each propulsion unit said control unit complex furthermore containing a feed forward pivot angle correction control block for each propulsion unit, which feed forward pivot angle correction blocks are arranged to generate desired angular positions of the propulsion units by adding a correction value to the general desired angular position of the propulsion units, said correction value including compensation for toe in setting of said propulsion units and/or Ackerman position setting of said propulsion units, and method for operating such a steering control system. |
