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Invention relates to automatic control systems operating for a long period of time under unfavourable external factors. A control system, having three control computers connected through an information collection unit to sensors, satellite navigation equipment, an inertial navigation subsystem, an optical correction subsystem, also includes a clock pulse former, a computer channel switch connected by inputs to the computers and by the output to actuating devices with feedback sensors and the clock pulse former, and a control and monitoring unit. The control and monitoring unit is connected by inputs to outputs of the computers and control devices thereof, and by the outputs to the control input of the switch, wherein the outputs of the sensors and feedback sensors are connected to inputs of the information collection unit, the current bus of which successively passes through the sensors and the feedback sensors of the actuating devices and returns to the information collection unit, inputs/outputs of which are connected to the computers. |
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Device and method for automatic control of scheduled vessel movement System includes receiver (1) of satellite navigation system, route selector (2) with outputs of the set path angle (PA) signal and the set angle φset of course angle, adjuster (3) of rudder displacement angle δset, steering gear (4), adjuster (5) of propeller shaft rpm nset, propeller shaft drive (6), adjuster (7) of maneuvering device rpm nman, maneuvering device (8), comparison unit (9), differential unit (10), control law correction unit (11) for rudder displacement angle δ, propeller shaft rpm nset, maneuvering device rpm nman, unit (12) of path angle (PA) vector position limit values four sectors, control ratio generator (13) and vessel (14) which all are interconnected. The system implements standard and precise control of vessel movement depending on results of comparison of difference between path angle (PA) from satellite navigation system receiver (1) and the set course signal φset from route selector (1) with constant C and on position of path angle (PA) vector in corresponding zone of path angle (PA) signal four limit values, thus determining adjustment ratios for each of three channels of vessel control. |
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Manoeuvring propulsion device comprises two screws arranged in nacelle on cowl strut in through channel and drive engine, extra props fitted at cowls on nacelle edges. |
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Method for automatic control of heading of ship and intelligent system for realising said method Group of inventions relates to a method for automatic control of heading of a ship and an intelligent system for automatic control of heading of a ship. The method involves using a neural network model of the control object as a model of the control object. In order to adjust fuzzy logic algorithm parameters to be adjusted, the method involves obtaining and identifying heading data of the ship and control data; determining criteria feature data of movement of the ship based on the identified heading data of the ship and control data using a database of the behaviour of the ship on the heading; selecting a neural network model of the control object based on the determined criteria feature data of movement of the ship; determining data of the fuzzy logic algorithm parameters to be adjusted in accordance with the selected neural network model of the control object. The intelligent system includes a fuzzy logic controller, an emulator for correcting control action, feedforward and feedback between the control object, the fuzzy logic controller and the emulator. The emulator is in form of a neural network emulator. The neural network emulator includes a neural network classifier, a neural network model unit of the control object and an optimisation unit. The neural network classifier includes a database of the behaviour of the ship on the heading. |
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Method of controlling ship movement on latitude and longitude Method of controlling ship movement on a latitude and longitude enables to control movement of a ship on a given path with time-correction of speed. Time-correction enables to find a ship at a given point at a given time. Using the latitude and longitude as navigation information improves accuracy of controlling movement in both space and time. Accurate control using current and latitude and longitude of the ship given in time is realised based on current determination of the course angle in one of four sectors in the range from 0° to 360°. For large angular changes of the given path, automatic switch to standard control of movement on a given course angle and given travelling speed of the ship is provided. |
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Device for underwater vehicle control Device contains vertical and horizontal movement propellers, telecamera installed with possibility of rotation, steering angle sensors, summation units, reference signal sources, threshold elements, sine and cosine functional generators, multiplier and divider units, amplifiers, switches, logic gates, proximity and command sensors, multilevel relay component, module taking units. |
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Invention relates to tracking, particularly automatic vessel control systems. The device for generating the path for moving a vessel into a parallel course includes: an apparatus for setting the modulus of the maximum allowable control signal, a longitudinal velocity sensor, a computer for calculating critical parameters of the path for moving a vessel into a parallel course, an apparatus for setting the distance of displacement of the parallel course from the current course, a computer for calculating change in course angle Δϕ, the minimum radius Rm of the allowable optimum polynomial section (DOEPO), the length L of the straight section between two DOEPO, a sensor for the coordinates of the centre of mass of the vessel, a computer for calculating a set of parameters of boundary points of the first DOEPO, a course angle sensor, a computer for calculating output parameters of elementary sections, an apparatus for setting the modulus of the maximum allowable control signal, a computer for calculating a set of parameters of boundary points of the first DOEPO, a computer for calculating parameters of elementary sections. The path for moving the vessel into a parallel course, which consists of two DOEPO or three elementary sections, is generated at the output of the computer for calculating output parameters of elementary sections. |
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Method of flawless control of ship in depth Proposed method consists in using the depth setter, first filter of depth estimation signal, fourth filter of trim angle estimation signal and adder to input of which said signals are fed. Rudder deflection preset speed signal is fed from adder output to steering drive input. Then, two standby depth transducers, two ruder deflection angle meters, four filters, diagnostics and communication unit are used. Said signals are fed to the input of the latter. Diagnostics and communication unit generates difference module signal: | h 1 − h _ 1 _ | , | h 1 − h _ 1 _ | , | h 2 − h _ 2 _ | , | ψ 3 − ψ _ 3 _ | , | ψ 2 − ψ _ 2 _ | , | ψ 3 − ψ _ 3 _ | to be compared with preset constant C1 and C2, in case said modules satisfy the condition: | h i − h _ i _ | < C 1 and | ψ i − ψ _ i _ | < C 2 , then signals ∑ h _ i _ are fed to the unit of generation of mean value of depth estimation hmean. Signals ∑ ψ _ i _ are input to the unit of generation of mean value of trim angle estimation ψ _ m e a n _ . Depth mean estimation signal h _ m e a n _ from depth mean estimation unit is fed to adder input. Trim angle estimation signal ψ _ m e a n _ from trim angle mean estimation unit is fed to adder input. |
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Method of control over ship motion in preset path Invention relates to ship control at motion in preset path, particularly, to automatic rudder control. Control is effected by transverse shift of fore point A and aft point B. Said points A and B are spaced over ship length in its centreline plane. Control signal is generated to define rudder deflection speed. Note here that rudder angle must not be larger than its maximum magnitude characteristic of particular rudder. |
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Method for determination of crosswise hydrodynamic force and its moment in ship complex maneuvering Invention relates to control over ship course in complex maneuvering at mooring, dynamic position or drifting. Proposed method consists in that prior to performing complex maneuvering, ship rotates under effects of active control means, for example, lateral thrusting propeller. Note here that ship angular ω and spinning moment Mpr produced by lateral thrusting propeller are calculated. Angular speed ω and spinning moment Mpr are used to define hydrodynamic factor c2 and transverse component of hydrodynamic force Yβ, formed at ship hull in its motion with the help of log and formula: Yβ=Cyβ0,5ρυ2Fdp, here C yβ≅c2, ρ is water bulk density; υ is ship linear speed; Fdp is reduced area of centerline buttock. |
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Method of ship control in mooring to anchored partner shipboard Invention relates to water transport. Proposed method consists in defining the approach path current position as a straight line. Said line crosses two preset points on the plane. Current position of preset points at whatever preset time moment is calculated using the coordinates of drifting partner ship aft and fore points, preset distance between mooring ships boards, preset position of ship mooring to another ship, and current length of braking path of mooring ship required for changing from initial sped to that equal to mooring ship linear speed lengthwise component. For safety of mooring, approach is effected in three steps. At first approach step, mooring ship gets to first conditional point. At second step, it gets to second conditional point. At third step, mooring ship approached to anchored partner-ship. |
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Method of control over ship afloat Invention relates to control over ship afloat at its positioning at preset point in the plane in preset direction. Crosswise displacement of two points spaced apart over object points and lengthwise drift of conditional points are used. Conditional point is located at ship centerline plane. Preset direction of the ship coincides with ship centerline plane direction at its sea surface position corresponding to minimum external force effects (wind, stream, rough sea). Current position of two points spaced apart over ship points on the plane at preset time moment is defined using the satellite navigation system. Current position of conditional point is calculated using the coordinates of the ship fore and aft points. Preset point is used. Preset point is located at preset line. Extra control signal is generated by law δS=ksds, where ks is amplification factor in lengthwise displacement of preset point from the line perpendicular to preset line and passing through conditional point. |
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Method of ship control in mooring to drifting partner shipboard Invention relates to water transport, particularly, to ship control in mooring to drifting partner-ship. Current position of approach path is defined as a straight line passing through two preset points on the plane. Current position of preset points at whatever preset time moment is calculated using the coordinates of drifting partner ship aft and fore points, preset distance between mooring ships boards, preset position of ship mooring to another ship, and current length of braking path of mooring ship required for changing from initial sped to that equal to mooring ship linear speed lengthwise component. Approach is effected in two steps. At every said step definite points on the plane are used. At first approach step, mooring ship gets to first conditional point. At second step, it gets to second conditional point. |
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Method of determination of damping component of normal hydrodynamic force and moment Invention relates to water transport and can be used in control over vessel path at complex maneuvering. Proposed method comprises finding the current magnitude of abscissa of the ship centre of rotation, angular speed, damping components of normal hydrodynamic force and moment. Proposed method exploits additionally arbitrary fore point A and aft point F whereat linear acceleration transducers are set. Said transducers are used to measure transverse linear accelerations wyF, wyA at said fore point F and aft point A. Then current transverse components of linear speeds υyA, υyF of points A and F are calculated. Then, normal hydrodynamic force and moment are defined. Aforesaid current magnitude of abscissa x0 of the ship centre of rotation is continuously found in maneuvering. |
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System for control over moving craft Invention relates to control systems of highly maneuverable craft. Proposed system comprises input data transducers and satellite navigation hardware connected to control computer (CC) with its outputs connected to actuators control device (ACD). Memory unit (MU) is connected to CC. Output of interlocking signal generator (ISG) is connected to locking input of MU and ACD. ACD inputs are connected to external effects sensor and extra output of CC. ACD zeroing/starting input is connected to CC zeroing/starting input. Timer comprises three pulsers with outputs connected to oscillators, their outputs being connected to major component. Oscillator comprises element AND with first input making that connected to generator. Component output is connected to timer with its outputs connected to first and second decoders. first decoder output is connected to halt trigger starting input while trigger output is connected to second input of AND element and major component first input. Major element output is connected to starting trigger, its output being connected to halt trigger zeroing input. Interlocking signal generator comprises register with input making that of unit connected to CC, decoder and trigger. Output of the latter is connected to AND element first input. AND element second input makes that of generator connected to external effects sensor. Element output makes that of the unit. |
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Invention relates to navigation. Proposed method comprises measurement of ship motion parameters and angular velocity, their comparison with programmed magnitudes and generation of control signal for rudder drive as data on mismatches and ship speed. In measurement of ship motion parameters, transducers additionally measure wind parameters, thrust angles, propulsors eccentricity and rpm, lateral thrusting propulsor rpm, keel clearance. Besides, fore and aft gravity center paths are defined. Program values of bearing and rudder angular velocity are defined in compliance with the ship motion model in extra function of wind speed and direction, thrust angles and propulsors rpm, lateral thrusting propulsor rpm, keel clearance, fore and aft gravity center paths, draft angle and ship drift angle. Control signal is transmitted via software of hardware to autopilot from four segmental receivers. Note here that instructions to autopilot are supplemented by maneuver instruction signal feed. |
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Method for determination of crosswise hydrodynamic force and its moment in ship complex maneuvering Aft point A and fore point F at ship centerline plate are used. Accelerometers are installed at said points A and F to measure crosswise and lengthwise accelerations of said points. Current components of linear velocities of said points are defined. Turn pole abscissa, transverse hydrodynamic force and its moment are calculated. |
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Method of ship automatic control in rough sea Invention relates to navigation in preset route. Proposed method proceeds from automatic ship control with the help of two control laws, i.e. optimum (in terms of ship stabilisation accuracy in quiet sea) and light duty control (for preservation of steering drive serviceability in rough sea). Selection of said control modes is effected automatically owing to application of control factor changeover unit that generates two terms of control law selection. In compliance with first term, signal of mean magnitude of rudder angle modulus exceeds tolerable magnitude while signal of mean magnitude of roll angle modulus exceeds tolerable magnitude. In compliance with second term, signal of mean magnitude of rudder angle modulus is smaller than tolerable magnitude while signal of mean magnitude of roll angle modulus is smaller than tolerable magnitude. In observance of said first term, light duty control law is generated. In observance of second term, optimum control law is generated. |
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Invention relates to hardware used for control over moving objects, for example, ships operated under unfavorable ambient conditions. Proposed system comprises set of transducers, data collection unit connected with satellite navigation hardware and equipped with pulsed supply source, inertial navigation subsystem and optical correction subsystem. Data collection I/O are connected to three control computers with their outputs connected via channel switches to actuators of the objected under control. Besides, outputs of computers and outputs of built-in real-time control appliances are connected to control unit. Output of said unit is connected to control input of said switch. Switch additional output is connected to control input of signal generator connected with ambient effects sensor. This system includes also sync pulse shaper with its input connected to switch output and with its outputs connected to computer, data collection unit and control unit. |
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Method of defining ship mathematical model hydrodynamic parameters Invention relates to navigation and can be used for forecasting ship manoeuvres. Proposed method comprises application of ship motion mathematical model and two fore and aft points F and A points, respectively, spaced apart over the centre plane length, Defining current coordinates of ship motion kinematic parameters in moving coordinate system ZX0Y to define current hydrodynamic parameters of ship mathematical model and to execute computer simulation of the basis of the latter. Moving coordinate system ZX0Y is related to the ship. Acceleration transducers are used to define in real time the current magnitudes of lengthwise, crosswise and angular accelerations of fore and aft points F (wfx1, Wfy1, ε) and A (wax1, Way1, ε) in fixed coordinate system X101Y1. Said magnitudes are used to define current magnitudes of ship motion kinematic parameters. |
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Method of ship control with compensation of disturbances Invention relates to navigation, particularly, to automatic ship navigation in preset direction. Method of chip control with compensation for slowly changing disturbances exploits relative bearing setting device, satellite navigation system receiver, steering drive, ship motion electronic model, adding controller and integrator. At adding controller input generated is bearing preset angle signals ϕad.=f(t) with the help of relative bearing setting and bearing angle ϕ is estimated at ship motion electronic motion output, to obtain K2d/dtϕ, a derivative of bearing angle estimation generated at adding controller unit. At ship motion electronic model input generated are the signal rudder angle δ from rudder transducer and discrepancy signal K(ϕ - ϕ), where bearing angle ϕ is generated from ship motion electronic model output. Discrepancy signal K(ϕ - ϕ) is generated at integrator input. Integrator output signal Ku ∫(φ - ϕ)dt is fed to adding controller input. Signal δad=K1(ϕ - ϕad) + K2d/dtϕ + Ku∫(ϕ -ϕ)dt is generated at adding controller output and fed therefrom to steering drive input. |
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Apparatus for forming path for switching ship to new heading Apparatus for forming a path for switching a ship to a new heading has a computer of a path for switching the ship to a new heading capable of calculating two-dimensional coefficients of a polynomial curve, which is the path for switching the ship to a new heading, the output of which is designed to transmit a drive signal to the ship driver or autopilot, a computer of minimum curvature radius, sensors of longitudinal velocity, centre of mass coordinates and the course angle, a heading change angle setting device, a device for setting the magnitude of the maximum allowable control signal, a computer of boundary parameters for switching the ship to a new heading; the computer of the path for switching the ship to a new heading is capable of calculating such a path that movement on said path is dome with the magnitude the control signal which does not exceed the maximum allowable value. |
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Invention relates to ship building and may be used in development of ship propulsion steering complex. Proposed propulsion steering column comprises spindle, nacelle, screw propeller and column turn drive. Spindle top is connected with hull, via thrust ball while its bottom is connected via thrust plate. Flexible rolls are secured at thrust plate. |
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Invention relates to ship building, particularly, to active ship control means, in particular, ship lateral thrust devices. Proposed device comprises propulsors and motor drive. Propulsors are fitted on shaft, on both sides of ship centreline plane and coupled with drive motor. Said propulsors are composed of discs. Discs rotational axes are directed perpendicular to plate tangential to ship skin at intersection of the latter with discs axes. Said discs are arranged in shells. Said shells are built in ship hull flush with its skin. Disc outer surface edges are also located flush with ship hull skin. |
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Power converter contains an inverter (10) for connection to the engine (4) stator, an inverter (14) with multiple semiconductor power switching devices interconnected via a DC line (12) and controlled by controllers (18, 20) respectively and a filter (16) between the inverter (14) and the feeding power grid. The inverter (10) switching devices are controlled by the controller (18) by means of signal VDC-MOT* of required voltage in the DC line which signal carries information on the desirable voltage in the line for ensuring the desirable level of the said voltage corresponding to the signal of voltage required in the said line. The inverter (14) switching devices are controlled by the controller (20) by means of the required power signal P* carrying information on the power level required for transfer into the DC line from the feeding power grid (bus) and by means of the required voltage signal VBUS* carrying information on voltage on the filter main terminals to ensure the desirable levels of power and voltage corresponding to the required power and voltage signals. |
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Method for vessel course following control Invention relates to ship navigation. Automatic vessel course following control is performed by steering according to preset course angle using aft rudders. To provide vessel movement with drift angle close to zero in the suggested method subsystem of vessel transversal stabilisation is used where maneuvering device control is generated using following signals: drift angle from adder unit to input of which course angle is entered from course sensor and path angle is entered from navigational satellite system receiver; and transfer from integrator. Both signals are fed to inputs the second adder unit the output of which is connected to maneuvering device. |
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Propeller complex of diver carrier Invention relates to diving, particularly, to diver underwater carriers. Proposed torpedo-shaped carrier is composed of two pod drives of left and right sides. Said pod drives are retracted into light case opening in turning about vertical axis. Pod drives are arranged in symmetry about carrier lengthwise axis to hinge from stern to bow. Left side pod drive is engaged with left side turning mechanism while right side pod drive is coupled with right side turning mechanism. Turning mechanisms (cylinders) are coupled via reduction gearboxes with their drive motors. Drive motors are arranged at top and bottom openings of carrier light case. |
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Method of ship control in mooring to partner shipboard Invention relates to water transport, particularly, to ship maneuvering in mooring to partner shipboard. Approach of ships is carried out in three stages whereat preset points of the plane are used foe each said stage. At first stage, ship to be moored comes to the first preset point and, at second stage, to the second preset point. At third stage, ship to be moored approaches partner ship to distance that allows lashing working lines. For this, preset current position of approach path, A'nB'n line, is gradually displaced parallel with partner ship centerline plane toward said partner ship at speed not exceeding tolerable crosswise speed υt of mooring ship toward partner ship. Note here that, in parallel displacement of line A'nB'n , current position of points A'n and B'n of line A'nB'n are continuously calculated depending upon distance h between boards of two ships. Note here that h is gradually decrease by law dh/dt=f(υt, h, h0,…). |
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Method of controlling towed ship path Invention relates to water transport and may be used for control over towed ship path. Proposed method comprises defining coordinates of bow and stern points located at towed ship centreline. It includes also computing deviation of said points from centreline of tugboat to determine control signal magnitude. Towed ship rudder is set proceeding from said control signal magnitude. |
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Method of control over ship by approaching moving target Invention relates to ship navigation. Proposed method exploits ACS to navigate the ship by course angle. Preset course angle is composed of observed bearing (azimuth) φ plus its increment ΔCAOB. Said increment Δ CAOB is composed of the function of two parameters of approaching the target: Δ CAOB=f(φ, ΔV), where ΔVship/Vtarget, Vship is ship speed, Vtarget is target speed, φ is bearing target-ship. |
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Invention relates to navigation equipment. Ship gyropilot includes control unit, feedback sensor, control modes switch. Outputs of steering wheel, rudder control hydraulic unit and electronic cartographic navigation-information system are connected to input of control unit via control modes switch. Receiver-indicator of GPS satellite navigation system is connected to input of electronic cartographic navigation-information system. Control unit output is connected with steering engine input the output of which is connected with control unit input via feedback sensor. To the control unit, unit for determination of permissible vessel lateral deviation from its guided path is additionally connected. Input of this unit is connected to outputs of the mentioned receiver-indicator and electronic cartographic navigation-information system. In the gyropilot, inertial position navigation system, panoramic hydroacoustic system containing echo sounder with two directional characteristics, two side-looking sonars with switchable directional characteristic, parametrical profile recorder are additionally included. Output of panoramic hydroacoustic system is connected with one more input of control unit. The inertial system by its inputs is connected with output of receiver-indicator and output of log, and by its input-output - with one more control unit input. |
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Method for vessel course following control Invention relates to navigation, in particular to automatic control of vessel movement. In the method, signals of current course angle and predetermined value of course angle are used which are used together with signals of angular velocity and amount of helm to form control signal for vessel steering gear. According to this method, modulus of the first difference of current vessel latitude and latitude of anticipated future position of vessel turn and modulus of the second difference of current vessel longitude and longitude of anticipated future position of vessel turn are formed at fixed time intervals. If any of the mentioned moduli is greater than value "C", signal of predetermined value of course angle is formed according to current values of vessel latitude and longitude and predetermined values of anticipated position latitude and longitude. If the mentioned moduli of difference value are less than predetermined value "C", programmed anticipated position manoeuvre signal is connected. In the next time interval "Δt", modulus of difference of current course angle and predetermined course angle of the next turning point signal is formed. If modulus of difference signal exceeds permissible value then after time interval "Δt" modulus of difference between current course angle and predetermined course angle of turning point signal is formed again. When modulus of difference between current course angle and predetermined course angle of turning point signal is less than permissible value the signal of programmed anticipated position manoeuvre is disconnected from steering gear, and adder output signal is connected to steering gear. |
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Submarine apparatus control device Invention relates to submarine apparatus movement control devices. Suggested device is intended to provide straight-line spatial movement of submarine apparatus to detected object both in automatic and manual control modes at maximum speed considering possible saturations of this apparatus propellers. The device includes the following: telecamera, angle encoders of telecamera, command sensor, sources of reference signal, threshold elements, multipliers, dividers, NO and OR logic gates, sine and cosine functional converters, adders, switches, amplifiers, modulus taking units. |
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System of ship automatic control Invention relates to facilities for vessel movement automatic control and dynamic vessel positioning. Suggested system implements maximum synergy of complex application of number of various vessel positioning facilities equipment, completeness of environmental perturbations measurements and use of one and all propelling vessel systems and devices as control objects. Suggested system comprises: vessel movement parameters metres unit, external influence sensors unit, control objects unit, computing unit, control unit. Navigation module in vessel movement parameters metres unit includes differential versions instrumentation of GPS and "GLONASS" navigation satellite systems, inertial position navigation system instrumentation, radio navigation systems instrumentation, hydroacoustic navigation systems instrumentation and radiogeodesic systems instrumentation. External influence sensors unit contains current and tidal influence parameter sensors in addition to wind and waves influence parameter sensors. Control objects unit includes main propellers with water screws of adjustable speed or adjustable pitch, steering gear, engines of maneuvering devices of "screw in pipe" type, turning engines of adjustable speed or adjustable pitch for turning propeller-steering columns with corresponding sensors of control actions. Control unit is made as ship-driver module and contains control and monitoring unit. |
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Method of tanker stabilisation in freight operation Invention relates to water transport. Proposed method proceeds from generation of control signals for actuators. For this, current coordinates of below points are continuously defined in time: oil terminal mechanical center O (φo, λo), tanker aft point A (φA, λA), and tanker fore point F (φF, λF) to determine point F1 located on line connected oil terminal center with tanker aft point A. Note here that point F1 is located at fixed distance d from oil terminal center. Then, current coordinates of point F1(φF1, λF1) are calculated to calculate distance between current positions of points F and F1, and to determine magnitude of length FF1. Proportionally with said length generated is control signal for actuators designed to drive tanker fore point F to point F1. Which makes point O, F, A located on one line to meet freight operation safety requirements. |
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Method of forecasting mooring object motion Invention relates to water transport and may be used for safe mooring. Proposed method consists in measuring mooring object linear longitudinal, linear transverse and angular acceleration in real time be means of accelerometers. Measured data are transmitted to mooring ship. Mooring object accelerations and its mathematical model are used to identify, at mooring ship, current parameters of mooring object mathematical model. Then, measurements and model parameter identification are repeated. |
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Invention relates to rafting, namely, to raft stopping devices. Proposed hydrodynamic brake comprises flexible web, rope tie rod, and hinges. Flexible web one end is secured in hinges while another end is secured to horizontal beam. Rope tie rod connects the raft with horizontal beam to extend via pulley arranged at raft tail. Hinges are arranged on supports are rigidly secured at raft tail section. Pulley shaft supports are made up of vertical column with height HK. Height HK≥DP+dR+δP, where DP is pulley diameter; dR is rope diameter; δP -is clearance between pulley and supporting platform required for normal operation of said pulley. Rope tie rod is provided with limiting sleeve arranged at distance LS from horizontal beam equal to where Ke is factor allowing for rope elongation caused by mechanical and thermal stress; bc is vertical column width; Ld is horizontal distance fro m pulley rotational axis to hinge axis; Hv is vertical distance from pulley rotational axis to hinge axis; k is factor allowing for sag of flexible web at water flow pressure, m; Bfw is flexible web width. |
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Method of ship automatic control Method uses signals of current course angle from satellite navigation receiver and preset course angle from course setting unit to be used together to generate total control signal for ship steering drive. In navigation preset time intervals, first modulus of difference between ship current latitude and latitude ''I'' of ship turn point along preset course, and second modulus of difference between current altitude and altitude ''i'' of ship turn point along preset course are generated. Sufficing the condition when either of two moduli exceeds magnitude ''C'', preset course angle is generated proceeding from current ship location point and proximate turn in ship course. Sufficing the condition when either of two moduli is smaller than magnitude ''C'', preset course angle is generated proceeding from current ship location point and next point of turn in ship course To follow automatically ship motion preset schedule, additionally used are propeller shaft rpm controller, propeller shaft drive and computer wherein preset ship speed is generated (also, with correction in time interval Δt). Ship preset speed signal is compared with that from satellite navigation system. Difference in signals is loaded into propeller shaft rpm controller to maintain ship speed equal to corrected value by propeller shaft. |
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Invention relates to marine power plants equipped with gas turbine engines. Proposed method consists in using one of driven actuators as braking element. Propulsion unit is selected to make said braking element. Propulsion unit is set to position ''stop''. ACS sends starting signal to gas turbine engine. Parameters of said mode are registered and analysed. In case tolerable spinup parameters are exceeded, actuation system controlled coupling electrically driven valve is switched on to connect propulsion unit to turbine. In case turbine rpm reaches limitation tolerances and their derivatives in time, changing over into free running mode is considered completed. |
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Determination method for dynamic parameters of marine movement mathematical model FIELD: ship navigation. SUBSTANCE: invention refers to ship navigation and can be used for forecasting the ship movements in the course of maneuvering. The fore and backward points are conditionally used. The fore and backwards points are located on the centerline plane of the ship. On a real time basis the coordinates of the fore and backward points are measured. Measurement of the coordinates is fulfilled with the help of the static shear stress receivers and with differential corrections. On the basis of the coordinate measurement results the current values of kinematic movement parameters are determined: linear speeds of the fore F (υf) and backward A (υa) points and their longitudinal (υfx, υax) and lateral (υfy, υay) components in the moving coordinates ZX0Y connected with the ship; longitudinal centre of the rotation (x0) in the moving coordinates ZX0Y connected with the ship; projection of the linear speed vector in the centre of gravity on the y axis 0Y (υy); linear speed of the ship centre of gravity (υ); curvature of the gravity path (R); angular rate of the ship (ω). The obtained results are used for calculation of the current values of the dynamic parameters of the marine movement mathematical model. On the basis of the mathematical model computer modeling is performed in order to forecast the ship movements in the course of maneuvering. EFFECT: improvement of the accuracy of forecasting of the ship movements in the course of maneuvering on the basis of an adequate mathematical model of its travel. 3 cl, 1 dwg |
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Invention relates to ship active control equipment, particularly, to auxiliary thrust devices. Ship active control system comprises thrust unit and drive engine articulated therewith. Drive engine is arranged in ship hull. Thrust unit comprises nacelle and propeller screw fitted on propeller shaft. Thrust unit is arranged in ship hull transverse channel. Propeller screw flow shapers are arranged at transverse channel outlets. Flow shapers are made up of taper shaped nozzle formed by propeller screw flow shaper lugs. The latter are secured on fixed annular wing and bent toward direction of propeller screw rotation. |
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Method of fault-tolerant automatic control of navigation Invention relates to ship building. Proposed method exploits diagnostics unit and the following modules, i.e. program, computer, actuators, measuring and standby modules: computer - δpr.stand., actuators - δstand. measuring - φstand., and model of actuators - δmod. Diagnostics unit generates: First signal of course angle difference signal (from measuring module) and preset course angle (from program module) |φ-φpr.|, second signal of course angle difference (from measuring module) and signal of standby course angle (from standby measuring module) |φ-φstand.|, third signal of differential signals δpr. (from computer) and signal δpr.stand. (from standby measuring module) |δpr.-δpr stand.|, fourth signal of signal difference δ (from module of actuators) and signal δmod. (from standby module of model of actuators) |δ-δmod.|. Difference signals are compared with tolerances. Results of said comparison allow automatic reconfiguration of automatic navigation control system architecture. |
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Method of controlling ship with navigator adviser Invention relates to manual ship navigation processes. In compliance with this invention, forecast signal of ship future state on course is generated in accelerated time scale. To increase accuracy in generating course forecast signal, mean (balancing) magnitude of rudder angle is excluded from rudder angle signal. |
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Method of ship coordinated maneuvering Invention may me used at river-marine ships operated in inland waters using vertical rudders (VR) and propulsive complex (PC) , limited navigation complex made up of log, ship turn speed indicator and ship location receiver-indicators. Ship side drift mismatch signals, ship desirable speeds in sailing along preset trajectory, ship speed mismatch magnitudes, course mismatch signals, those in rudder deflection in sailing along circle arc, those in rudder deflection in midplane are processed to generate VR control signal to minimise course and lateral drift mismatch. In rudder deflection in sailing along circle arc to minimise course and lateral drift speed VR control signal is fed to first input of VR LCS with its second input receiving signal from VR deflection angle feedback transducer while output signal from VR LCS is fed to ship VR actuator drive unit connected with VR deflection angle feedback transducer. PC control unit processes ship speed mismatch signal to generate ship speed control signal to be fed to VR LCS unit input while VR LCS second input receives rpm feedback transducer. Output signal of VR LCS is fed to PC actuator drive unit connected with water propeller rpm transducer. Note here that visual control over turn speed is performed using turn speed indicator. |
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Invention relates to automatic control of whatever ships. Proposed system comprises angular speed, wind and disturbance transducers, echo-sounder, magnetic and gyro compasses and satellite navigation device. There is also data acquisition device, computer and steering gear actuators. Additionally, system comprises storage device with authorised access to results of every control computation cycle. Data accessed, computer starts data processing to set control algorithm. Computation results are transmitted into ship actuators controls and memorised in storage device. Note here that records in odd cycle are made in one storage and, in even cycle, they are made in another storage. In every launch of program (switching on power supply, recovery after failure), computer analyses data in memory. With emergent completion attributes, further computation is performed starting from latest correctly memorised results. Correctness of results retention is ensured by authorised access to storage units and their alternation. |
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Invention relates to navigation. Proposed system comprises set of transducers (for example, stern plane transducer, drift angle transducer, etc), course setter, satellite navigation hardware, transducer data and other data acquisition unit, three computer modules, cloak pulse generator, and majorisation unit. Computer modules respond to input data received to process it in redundancy count mode. After computation of control effects, said modules output control codes via majorisation unit to ship actuators' control modules. Synchronised operation of computation modules allows identity of output data of all three computation modules. In case one of said modules fails, its output data may differ that of healthy modules. Yet, since data comes to external devices after majorisation unit it incorporates identical magnitudes from at least two healthy modules, that is, with module faulty, data of healthy modules comes to output. |
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Method of computer-aided design of ship motion control system structure Invention relates to CAD systems used in designing ship navigation control system laws and configuration using computers. Acceleration and higher quality of CAD proceeds from exploitation of ship control laws via automatic compilation of control process models using editing unit incorporating process models to be converted into electronic models, program generator, compiler and unit to compute dynamic system wherein electronic programs are transformed into programs executed in DLL format. Programs executed in DLL format are entered via dynamic system computation unit into parametric optimisation unit to generate structure and laws of ship navigation control system. |
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Method of ship control when she is mooring to board of partner ship Invention relates to water transport, specifically to mooring ship motion control when she is executing mooring operation to partner ship. Current position of approach path is determined as straight line passing through two points in the plane one of which is the center of gravity of mooring ship and the second is target point. Control method consists in that approach is executed in two steps to ensure safety of mooring operation, herewith, in each step of approach, peculiar target point in the plane is used. Current position of target points in the plane at any given moment is calculated using values of current coordinates of fore and aft points of partner ship, given distance between boards of mooring ships, target position of mooring ship relative to partner ship in mooring final stage, and current value of mooring ship braking path length necessary for its transition from original speed to the speed equal to partner ship speed in specific conditions. Length of braking path is determined depending on ship loading and ambient environment. |
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Ship control hardware with diagnostics unit Invention relates to ship ACS. Proposed hardware comprises measuring module, diagnostics unit, steering system, course angle setting module, system computer module, switch and electronic model of system computer module. Measuring module and course angle setting module are connected to system computer module input. Outputs of measuring module and course angle setting module are connected to first and second inputs of diagnostics unit. Outputs of measuring module and course angle setting module are connected to first and second inputs of system computer module model. System computer module electronic model output is connected to first input of the switch. System computer module output is connected to second input of the switch. Outputs of system computer module and electronic model are connected to thirds and fourth inputs of diagnostics unit. Diagnostics unit output is connected to third input of the switch, while switch output is connected to steering system input. |
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Submarine apparatus control device Invention relates to submarine apparatus control devices. Proposed device comprises propulsors of vertical and horizontal motions, TV camera, TV camera turn angle transducer, first threshold element, first adder, first source of reference signal, second threshold element, logical element NO and logical element OR, third threshold element, sine functional transducer, first multiplication unit, first gate, first amplifier, cosine functional transducer second multiplication unit, second gate, second amplifier, range indicator, third gate, fourth threshold element, fourth gate, fifth gate, fourth threshold element, sixth gate, instruction transducer, first divider unit, second source of reference signal, second adder and seventh gate, third source of reference signal, third adder, seventh gate, fifth threshold element, eighth gate, first multilevel relay element, third multiplication unit and ninth gate. |
Another patent 2528677.