Method of ship control in mooring to drifting partner shipboard. RU patent 2509029.
 Method of determination of damping component of normal hydrodynamic force and moment / 2507110Invention 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. |
 Automatic piloting / 2501708Invention 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. |
 Method for determination of crosswise hydrodynamic force and its moment in ship complex maneuvering / 2500572Aft 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. |
 Apparatus for forming path for switching ship to new heading / 2491509Apparatus 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. |
 Ship lateral thrusting device / 2487817Invention 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. |
 Submarine apparatus control device / 2465168Invention 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. |
 Method of tanker stabilisation in freight operation / 2462389Invention 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. |
 Method of limiting spinup of gas turbine unit free power turbine in starting it in propulsion unit drive / 2449918Invention 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. |
 Ship active control system / 2440277Invention 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. |
 Method of computer-aided design of ship motion control system structure / 2423286Invention 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. |
| Method of indication of ship motion parameters / 2248576 Proposed method includes presentation of ship motion parameters in heading, list, trim and rates of their change on linear scales of autopilots. Rates of change of said parameters are additionally indicated by moving line of geometric signs whose direction and speed of motion are proportional to rate and direction of change of respective parameter. As soon as critical magnitudes of rate of change of parameters in heading, list and trim are achieved, neutral color of geometric signs smoothly changes to color warning critical parameters. |
 Method of control of moving article / 2263606Proposed method includes selection of point of control, determination of lateral displacement from preset trajectory to point of control and taking it into account in shifting the rudder. Use is also made of additional point of control; both points of control are lie in ship's CL: one in the bow and one in the stern. Shifting the rudder is performed depending on combination of lateral displacement of fore and aft points from preset trajectory; displacement of these points is calculated by their coordinates. It is good practice to measure coordinates of fore and aft points by means of satellite navigation system. Coordinates of fore and aft points may be measured at differential corrections. |
 Device for control of ship with diagnosis / 2267440Proposed device includes trim angle sensors, angular velocity sensors, rudder sensors and trim angle setter whose outputs are connected to first, second, third and fourth inputs of summing-up amplifier whose output is connected with steering gear input. Command unit output is connected with inlet valve of ballast tank through program unit. Device is provided with summing-up amplifier model, steering gear model, program unit model, ballast tank model, ship model, fast time ship model and first-fifth failure indicators. First and second inputs of first failure indicator are connected respectively with summing-up amplifier outputs and with output of summing-up amplifier model. First and second inputs of second failure indicator are connected respectively with steering gear output and steering gear model output. First and second inputs of third failure indicator are connected respectively with outlet valve of ballast tank and outlet valve of ballast tank model. First and second inputs of fourth failure indicator are connected respectively with output of angular velocity sensor and with ship model output whose first and second inputs are connected respectively with outlet valve of ballast tank and output of steering gear model whose input is connected with output of summing-up amplifier model. First and second inputs of fifth failure indicator are connected respectively with output of fast-time ship model and with output of failure indicator setter; outputs of failure indicator sensor, failure indicator setter, angular velocity sensor and rudder position sensor are connected respectively to first, second, third and fourth inputs of summing-up amplifier model; outputs of failure indicator sensor, angular velocity sensor and ballast tank outlet valve are connected respectively to first, second and third inputs of fast-time ship model whose fourth input is connected with first output of program unit model whose second output is connected with inlet valve of ballast tank model. |
 Method of control of ship traffic / 2297362Proposed method consists in forming signal of deflection from preset trajectory which is fed together with course error signal and course derivative to input of rudder actuating mechanism. Besides that, use is made of reference point in preset direction and two signals of deflection from preset trajectory are formed; the first signal is determined as algebraic difference between present magnitude of ship's bearing to reference point Пref.p. and present course K; the second signal is determined as algebraic difference between preset course to reference point Kpr. and present course K; then, combination of these signals and course derivative signal ω are fed to rudder actuating mechanism input by the following formula: δ=a1(Пref.p.-K)+a2ω+a3(Kpr.-K), where a1, a2, a3 are gain coefficients of respective signals. |
 Ship motion control system / 2319641Proposed ship motion control system is provided with commanding officer control console which may be used for observation of ship motion dynamics on special-purpose commanding officer display and for control of her motion by commanding officer personally. Control system is also provided with console selector switch, computer, mode setter and switch. Switch output is connected to steering gear input; outputs of course sensor, angular velocity sensor and rudder position sensor are connected to respective inputs of computer. |
 Method of ship mooring / 2350506Proposed method comprises electronic analog of ship motion, units of programmable and accelerated programmable motion control, unit of accelerated actuators, comparator unit with its input receiving signals from electronic analog of ship motion, units of programmable and accelerated programmable motion control. The comparator unit generates deviation of forecasted signals of the ship phase state at the end of mooring and preset programmed (for end of mooring), as well as that of the course angle and ship motion speed. Given the aforesaid deviations exceed tolerances, appropriate data is sent to navigator. |
 Method of controlling vessel movement of object when it approaches another moving vessel / 2356784Invention relates to water transport facilities, particularly, to control of vessel movement effected on approaching another moving vessel. In compliance with the proposed method, a preset point on a plane in a direction of approach with the other moving object and centre of gravity of a vessel are used. Coordinates of the preset point are defined and coordinates of the vessel centre of gravity is computed. The data resulted are used to define the position of approach trajectory. The coordinates of the bow and stern points to use them for computing crosswise displacement of aforesaid bow and stern points from the determined position of the approach trajectory to put the rudder over depending upon the combination of these displacements. |
 Device to control ship deadweight / 2363615Invention relates to ship building, particularly, to the device that provides for ship controllability and maneuverability. Proposed device comprises control elements, ailerons, arranged below the ship water-line. Ailerons are arranged in pairs relative to midplane in shipboard recesses that repeat aileron outlines. Note here that aileron surface matches the surface of board sections. The recess repeats the shape of aileron and is furnished with guide sleeve with packing box to house the control mechanism drive rod. Note here that aileron front vertical side is pivoted to the board, the pivot joint being attached to the hill frame. The guide attached to aileron houses the drive rod hinged support. |
 Underwater vehicle control device / 2364545Invention relates to underwater vehicle control systems. Proposed device comprises vertical and horizontal motion propulsors, TV camera, TV camera turn angle pickup, first threshold element, first adder, first source of reference signal, second threshold element, logical element NO and logical element OR. It comprises also the third threshold element, sine-wave functional converter, fist gate, first multiplication unit, first amplifier, sine-wave functional converter, second multiplication unit, second gate, second amplifier, distance pickup. It comprises, further on, the third gate, fourth threshold element, fourth gate, fifth gate, fourth threshold element, sixth gate, instructions pickup, first division unit, second source of reference signal, second adder, seventh gate, third source of reference signal, third adder, seventh gate, fifth threshold element and eighth gate. |
 Method of mooring to partner ship / 2375249Current position of approach trajectory is determined in the form of straight line passing through two points on plane, one representing mooring ship center of gravity another one making a preset point. Method of mooring consists in dividing approach in two stages, each using its preset point on plane. Position of preset points on plane in whatever time us determined using current coordinates of partner ship bow and stern points, preset position of mooring ship with respect to partner ship at final mooring stage, and its stopping distance required for it to make its initial speed equal to that of partner ship. |
FIELD: transport.
SUBSTANCE: 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.
EFFECT: perfected control, higher safety.
4 dwg
The invention relates to water transport and relating to the management of vessel moored to the performance of mooring operations to the Board of the partner lying in the drift.
Known way to control vessel moored to the performance of mooring operations to the Board of the partner (patent №2422326, publ. On June 27, when within the contours of the moored vessel and the vessel partner in their diametrically planes to pick two points, one of which is located in the nose And (moored vessel), A n (ship-partner), and the other aft At (moored vessel), B n (ship-partner) (Fig 1,2) with respect to the middle frame of the respective vessel.
The coordinates of the points a, b, A, n , B n in a fixed coordinate system continuously determine with high accuracy (+/- 1.0 m). Using the coordinates of points a(X 0A , Y 0A), (X 0B , Y 0B ) moored vessel and the vessel partner-A n (X 0An , Y 0An ), B n (X 0Bn , Y 0Bn ) in a fixed coordinate system, the coordinates of the same points in the moving coordinate systems related moored vessel And A(X A , Y, A ), B n (X , Y B ) vessel and the partner A n (An X , Y'an ), B n (X Bn , Y Bn ), the coordinates of the centers of gravity (CG) moored vessel in the associated mobile coordinate system G (X, G , Y G ) vessel and the partner in the associated mobile coordinate system G n (X 0Gn , Y 0Gn ) (figure 3), and spacing diametrically planes (DP) moored vessels h 0 and the distance between CG moored vessels m, expect:
- coordinates of the center of gravity of a moored vessel G(X 0G , Y 0G ) in a fixed coordinate system;
- coordinates of the center of gravity of the ship-partner G n (X 0Gn , Y 0Gn ) in a fixed coordinate system;
- coordinates of points
A n ' ( X A ' n , Y A ' n ) and B n ' ( X B ' n , Y B ' n )situated on the perpendicular DP vessel partner, restored in point A n and B n ;
- coordinates of the projection CT ship-partner
G n ' ( X 0 G ' n , Y 0 G ' n )in a fixed coordinate system on the trajectory of convergence in the final stage of mooring parallel to the DP vessel partner through points
A n ' and B n ' ;- coordinates of the second set point P 2 (X 0P2 , Y 0P2 ) in a fixed coordinate system;
- the current value of the stopping distance moored vessel should be calculated using the equations of its movement dυ/dS=f ( * , C 1 C 2 C 3 ,...)
where* - the current speed moored vessel;
S is the path;
C 1 , C 2 , C 3 ,... are the current values of the parameters of the equations of motion of a moored vessel, depending on the current values parameters describing the current state of the loading of the ship and the external environment (the displacement of a moored vessel; landing options corps; direction and speed of wind parameters excitement; direction and speed of currents; the depth of water area at the perform mooring operations). The actual length of a brake way moored vessel in the process of rapprochement with the vessel-a partner is determined by integration of the equations of motion of a moored vessel within * = * n up * = * n , i.e.
S T = ∫ * n * n f ( * , C 1 , C 2 , C 3 , ... ) dwhere * n - initial speed of a moored vessel; * n - speed vessel partner.
While the current values of the parameters of the equations of motion of a moored vessel With 1 , 2 , 3 ,... in the implementation process of mooring operations continuously identify, using the method described in [5], [6].
- coordinates of the first given point P (X 0P1 , Y 0P1 ) in a fixed coordinate system.
Knowing the coordinates of the first set point and CG coordinate moored vessel determine the current position of a trajectory of convergence, passing through the first set point P (X 0P1 Y 0P1 ) and CT moored vessel G(X 0G , Y 0G ). After that define the transverse displacement of points A and B in the specified manner trajectory of convergence.
Continuously determined the coordinates of points A and B, A n and B n continually calculate the CG coordinate moored vessel G, and together with continuously determined by the current value of the stopping distance S T - and first given point P 1 ; and transverse displacement d A and d B A and B points moored vessel from the current position of a trajectory of convergence.
Transverse displacement produce a signal to the deviation of the steering body, for example steering moored vessel by law:
?=- k A x A d +k B x d B ,
where k A , k, B - gain on pepper offsets the bow and stern points moored vessel from the current position of a trajectory of convergence.
Thus, moored vessel moves along the line of GP 1 in the direction of the point P 1 .
At the time of exit moored vessel in the first set point, which corresponds to the coordinates equality CT moored vessel G(X 0G , Y 0G ) and the coordinates of the first given point P (X 0G , Y 0P1 ) (X 0G =X R ; Y 0G =Y 0P1 ), it goes to the rapprochement with the second set point P 2 , with the current position of a trajectory approximation corresponds to the position of the line passing through points
A n ' ( X A ' n , Y A ' n ) and B n ' ( X B ' n , Y B ' n )which coordinates are calculated continuously. The current coordinates of the second set point P 2 (X N , Y 0P2 )lying on line
A n ' B n 'calculate also continuously.
Constantly define the coordinates of points A and B, A n and B n continually calculate: the coordinates of the points
A n ' and B n ', CT G moored vessel and CG G n a vessel partner, the second set point P 2 in a fixed coordinate system, as well as transverse displacement d A and d B A and B points moored vessel from the current position of a trajectory of convergence, which is the line
A n ' B n ' .Transverse displacement produce a signal to the deviation of the steering body, for example steering moored vessel by the known law. Thus, moored vessel is moving at a point P on line 2
A n ' B n ' .The moment of release of the vessel moored to the second set point P 2 corresponds to the coordinates equality CT moored vessel and the second set point, that is, X 0G =X 0P2 , Y 0G =Y 0P2 .
However, in this way, ship's control, performing mooring operation the vessel partner, there is a certain disadvantage of not allowing safe closer moored vessel with the vessel-partner, if it is to drift. The direction of the vector of linear speed drifting vessel * ' is determined by the angle of drift β' (the angle between diametrically line of the vessel and a vector of linear speed of the vessel) (figure 4), the amount of β' can reach high values in the range from 0 to 180° [1], [3], [4]. Thus, at the moment of release of the vessel moored alongside a partner lying in the drift velocity moored vessel and must be equal to the longitudinal component of the linear velocity swartout vessel
* x ' , i.e. * = * x ' .The technical result, the attainment of which are directed by the invention consists in observing traffic conditions moored vessel at the final stage of mooring at a rate equal to the longitudinal component of the linear velocity of the ship-partner.
To achieve the technical result of the way the management moored ship, when they mooring operations to the Board of the partner, when within the contours of the moored vessel and the vessel partner in their diametrically planes to pick two points, one of which is located in the nose A (moored vessel), A n (ship-partner), and the other aft B (moored vessel), B n (ship-partner) (figure 2) regarding the middle frame of the respective vessel.
The coordinates of points A, B, A n B n in a fixed coordinate system continuously determine with high accuracy (+/- 1.0 m). Using the values of the coordinates of A moored vessel(X 0A , Y 0A), (X 0B , Y 0B ) vessel and the partner-A n (X 0An, Y 0An ), B n (X 0Bn, Y 0Bn ) in a fixed coordinate system, the coordinates of the same points in the moving coordinate systems related to vessel moored A(X A , Y, A ), B(X, B , Y, B ) and the vessel partner A n (An X , Y'an ), B n (X Bn ,Y Bn ), CG coordinate moored vessel in the associated mobile coordinate system G (X, G ,Y G ) vessel and the partner in the associated mobile coordinate system G n (X 0Gn , Y 0Gn ), and values of the distance between APS moored vessels h 0 and the distance between CG moored vessels m, expect:
- coordinates of the center of gravity of a moored vessel G (X 0G , Y 0G ) in a fixed coordinate system;
- coordinates of the center of gravity of the ship-partner G n (X 0Gn , Y 0Gn ) in a fixed coordinate system;
- coordinates of points
A n ' ( X A ' n , Y A ' n ) and B n ' ( X B ' n , Y B ' n )situated on the perpendicular DP vessel partner, restored in point A n and B n ;
- coordinates of the projection CT ship-partner
G n ' ( X 0 G ' n , Y 0 G ' n )in a fixed coordinate system on a trajectory convergence in the final stage of mooring parallel to the DP vessel partner through points
A n ' and B n ' ;- coordinates of the second set point P 2 (X 0P2 , Y 0P2 ) in a fixed coordinate system;
- the current value of the stopping distance moored vessel should be calculated using the equations of its movement dυ/dS=f ( * , C 1 , C 2 , C 3 ,...)
where* - the current speed moored vessel;
S is the path;
C 1 , C 2 , C 3 ,... are the current values of the parameters of the equations of motion of a moored vessel, which depends upon the current parameters characterizing the current status download the ship and the external environment (the displacement of a moored vessel; landing options corps; direction and speed of wind parameters excitement; direction and speed of currents; the depth of water area at the perform mooring operations).
A distinctive feature of the proposed method from the above-known, the most close to him, is the following:
additionally, the current value of the stopping distance moored vessel in the process of rapprochement with the vessel-a partner is determined by integration of the equations of motion of a moored vessel within * = * h to
* = * x ' , i.e. S T = ∫ * n * x ' f ( * , C 1 , C 2 , C 3 , ... ) d where * x '- longitudinal component of the linear velocity swartout vessel.
While the current values of the parameters of the equations of motion of a moored vessel C 1 , C 2 , 3 ,... in the implementation process of mooring operations continuously identify, using the method described in [5], [6];
Knowing the coordinates of the first set point and CG coordinate moored vessel determine the current position of a trajectory of convergence, passing through the first set point P = (X 0P1 , Y 0P1 ) and CT moored vessel G(X 0G , Y 0G ). After that define the transverse displacement of points A and B in the specified manner trajectory of convergence.
Constantly define the coordinates of points A and B, A n and B n continually calculate the CG coordinate moored vessel G, and together with continuously determined by the current value of the stopping distance S T - and first given point P 1 , as well as transverse displacement d A and d B A and B points moored vessel from the current position of a trajectory of convergence.
Transverse displacement produce a signal to the deviation of the steering body, for example steering moored vessel by law:
?=- k A x A d +k B x d B ,
where k A , k, B - gain on pepper offsets the bow and stern points moored vessel from the current position of a trajectory of convergence.
Thus, moored vessel moves along the line of GP 1 in the direction of the point P 1 .
At the time of exit moored vessel in the first set point, which corresponds to the coordinates equality CT moored vessel G(X 0G , Y 0G ) and the coordinates of the first given point P (X 0G , Y 0P1 ) (X 0G =X R ; Y 0G =Y 0P1 ), it goes to the rapprochement with the second set point P 2 , with the current position of a trajectory approximation corresponds to the position of the line passing through points
A n ' ( X A ' n , Y A ' n ) and B n ' ( X B ' n , Y B ' n )which coordinates are calculated continuously. The current coordinates of the second set point P 2 (X 0P2 , Y 0P2 )lying on line
A n ' B n 'calculate also continuously.
Constantly define the coordinates of points A and B, A n and B n continually calculate: the coordinates of the points
A n ' and B n ', CT G moored vessel and CG G n a vessel partner, the second set point P 2 in a fixed coordinate system, as well as transverse displacement d A and d B A and B points moored vessel from the current position of a trajectory of convergence, which is the line
A n ' B n ' .Transverse displacement produce a signal to the deviation of the steering body, for example steering moored vessel by the known law. Thus, moored vessel is moving at a point P on line 2
A n ' B n ' .The moment of release of the vessel moored to the second set point P 2 corresponds to the coordinates equality CT moored vessel and the second set point, that is, X 0G =X R , Y 0G =Y 0P2 .
The proposed method of ship's control when they mooring operations to the Board of the partner lying in the drift, is as follows.
Within the contours of the moored vessel and the vessel partner lying in the drift, their diametrically planes to pick two points, one of which is located in the nose A (moored vessel), A n (ship-partner lying in the drift), and the other aft B (moored vessel), B n (ship-partner lying in the drift) (figure 2) regarding the middle frame of the respective vessel.
The coordinates of points A, B, A n B n in a fixed coordinate system continuously determine with high accuracy (+/- 1.0 m). Using the values of the coordinates of A moored vessel(X 0 , Y 0A ), B(X 0 , Y 0B ) and ship-partner, lying in the drift of A n (X 0An , Y 0An ), B n (X 0Bn , Y 0Bn ) in a fixed coordinate system, the coordinates of the same points in the moving coordinate systems related to vessel moored A(X A , Y, B , V(X, B , Y, B ) and ship-partner lying in the drift of A n (An X , Y'an ) B n (X Bn ,Y Bn ), CG coordinate moored vessel in the associated mobile coordinate system G(X, G ,Y G ) vessel and the partner lying in the drift in the associated mobile coordinate system G n (X 0Gn , Y 0Gn ), and values of the distance between APS moored vessels h 0 and the distance between CG moored vessels m, count:
- coordinates of the center of gravity of a moored vessel G(X 0G , Y 0G ) in a fixed coordinate system;
- coordinates of the center of gravity of the ship-partner lying in the drift G n (X 0Gn , Y 0Gn ) in a fixed coordinate system;
- coordinates of points
A n ' ( X A ' n , Y A ' n ) and B n ' ( X B ' n , Y B ' n )situated on the perpendicular DP vessel partner lying in the drift, restored in point A n and B n ;
- coordinates of the projection CT vessel partner lying in the drift
G n ' ( X 0 G ' n , Y 0 G ' n )in a fixed coordinate system the trajectory of convergence in the final stage of mooring parallel to the DP vessel partner lying in the drift through points
A n ' B n ' ;- coordinates of the second set point P 2 (X 0P2 , Y 0P2 ) in a fixed coordinate system;
- the current value of the stopping distance moored vessel should be calculated using the equations of its movement dυ/dS=f ( * , C 1 , C 2 , C 3 ,...)
where* - the current speed moored vessel;
S is the path;
The actual length of a brake way moored vessel in the process of rapprochement with the vessel-partner lying in the drift, defined as the integration of the equations of motion of a moored vessel within * = * h to
* = * x ' , i.e. S T = ∫ * n * x ' f ( * , C 1 , C 2 , C 3 , ... ) d where * x '- longitudinal component of the linear velocity swartout vessel.
While the current values of the parameters of the equations of motion of a moored vessel C 1 , C 2 , C 3 ,... in the implementation process of mooring operations continuously identify, using the method described in [5], [6];
- coordinates of the first given point P (X 0P1 , Y 0P1 ) in a fixed coordinate system.
Knowing the coordinates of the first set point and CG coordinate moored vessel determine the current position of a trajectory of convergence, passing through the first set point P (X 0P1 , Y 0P1 ) and CT moored vessel G(X 0G , Y 0G ). After that define the transverse displacement of points A and B in the specified manner trajectory of convergence.
Continuously determined the coordinates of points A and B, A n and B n continually calculate the CG coordinate moored vessel G, and together with continuously determined by the current value of the stopping distance S T - and first given point P 1, as well as transverse displacement d A and d B A and B points moored vessel from the current position of a trajectory of convergence.
Transverse displacement produce a signal to the deviation of the steering body, for example steering moored vessel by law:
?=- k A x A d +k B x d B k A , k, B - gain on pepper offsets the bow and stern points moored vessel from the current position of a trajectory of convergence.
Thus, moored vessel moves along the line of GP 1 in the direction of the point P 1 .
At the time of exit moored vessel in the first set point, which corresponds to the coordinates equality CT moored vessel G(X 0G , Y 0G ) and the coordinates of the first given point P (X 0G , Y 0P1 ) (X 0G =X 0P1 ; Y 0G =Y 0P1 ), it goes to the rapprochement with the second set point P 2 , with the current position of a trajectory approximation corresponds to the position of the line passing through points
A n ' ( X A ' n , Y A ' n ) and B n ' ( X B ' n , Y B ' n )which coordinates are calculated continuously. The current coordinates of the second set point P 2 (X 0P2 , Y 0P2 )lying on line
A n ' B n 'calculate continuously.
Continuously determined the coordinates of points A and B, A n and B n continually calculate: the coordinates of the points
A n ' and B n ', CT moored vessel G and CT vessel partner lying in the drift n G , a second set point P 2 in a fixed coordinate system, as well as transverse displacement d A and d B A and B points moored vessel from the current position of a trajectory of convergence, which is the line
A n ' B n ' .Transverse displacement produce a signal to the deviation of the steering body, for example steering moored vessel by the known law. Thus, moored vessel is moving at a point P on line 2
A n ' B n ' .The time when a moored vessel in the second set point P 2 corresponds coordinates equality CT moored vessel and the second set point, that is, X 0G =X R , Y 0G =Y 0P2 .
As a result of application of the present invention is an opportunity to obtain a technical result - compliance with security perform mooring operations to the Board of the partner lying in the drift.
List of literature
1. Dmitriev, V.I. Reference captain: directory / V. Dmitriev. - Moscow: Elmore, 2009. - 797 with: Il.
2. Patent №2422326 Russian Federation, the IPC 8 B63H 25/00. The method of control of the boat when they mooring operations to the Board of the partner, the applicant and the patentee (Murmansk area Russia). Gastein. UN-so - 2010116539/11; Saul; publ. On June 27.
3. Snopkov, V.I. ship Management: textbook / Vienobas. - Moscow: Transport, 1991. 359 S.: Il.
4. Turban, A.I. Mooring operations of vessels. / A.I. of Turban, A.M. Oganov. - Moscow: Transport, 1987. - 176: Il.
5. Yudin SCI The synthesis of models of the prediction mechanism for expert systems, which ensure safe operation of the ship: monograph / Wieden. - Murmansk: Izd-vo MGTU, 2007. 198 with: Il.
6. Yudin, SCI Theoretical bases of safe ways of maneuvering when performing point mooring: monograph / Wiggin, Swasana, Hearty, Ayuden. - Murmansk: Izd-vo MGTU, 2009. - 152 S.: Il.