Method of control over ship afloat. RU patent 2509030.
 Method of ship control in mooring to drifting partner shipboard / 2509029Invention 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. |
 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 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 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.
EFFECT: retention of ship position at preset line and at preset point located at preset line.
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The invention relates to the management of a moving vessel and can be used for positioning it in a specific point on the plane.
The known method of control of the moving object (Pat. The Russian Federation №2263606, publ. 10.11.2005), for example vessel largest transverse displacements of two spaced along the length of the vessel points, conditionally called nasal F and feed A. Within the outline of a ship in its diametrical plane choose two points, one of which is located to the nose of the ship (point F in figure 1, figure 4), and the other to the stern of the vessel (point a in figure 1-4) with respect to the plane of the middle frame. The distance between the points F and A are selected depending on the technical possibilities of accommodation in these points is receiving antennas of the satellite navigation system (SNS). The more the distance, the better the system of management of the vessel is to be maintained on a given line.
The coordinates of these points define continuously with high accuracy (+1.0 m), it became possible with the introduction of the SNA shore stations, computing and transmitting vessel differential corrections.
Coordinate values continually calculate the transverse displacement of the point F (d, F ) and point A (d A ) from a given line. And transverse displacements of the point on a line is considered to be positive if it moves to the right, and negative if it is shifted to the left (Fig.1-4).
Transverse displacement produce the signal for the operation of separate elements or the entire propulsion and steering gear of the ship by law:
σ=-k F x d F +k A x A d ,
where k F k A - the gain of the transverse displacements of the bow and stern points of a vessel from a given line. This is a positive value, and k F k A more . Signal σ is considered positive if the vessel rotation clockwise and negative when the vessel rotation counterclockwise. Figure 1-4 shows the major variants of possible deviations of the vessel 1 from the given line 2. For example, figures 1, 2 DP vessel 3 crosses a certain line 2 at a certain angle, the value of which is characterized by the values of the transverse displacement of the point F(d, F ) and point A(d, A )and d more F 0 d A is less than 0 (Fig 1) and d F is less than 0, d A is greater than 0 (figure 2). In the first case (Fig 1) according to the law elements propulsion-steering complex will provide rotation of the ship counterclockwise, which will lead to reduction of a d F d A and ultimately to the exit of a vessel on a given line; in the second case (figure 2) control signal will have a positive value and propulsion and steering the complex will provide the vessel rotation clockwise, which will lead to reduction of a d F d A and to the exit of a vessel on a given line.
Figure 3, 4 3 DP vessel 1 intersects with the given line 2 and transverse displacements of the points F And have the same signs, the positive (figure 3) and negative (figure 4). Sign σ and the corresponding direction of rotation of the vessel, provided its propulsion-steering complex, depend on the ratio of values of the coefficients of F and k k A (k F k A more , if the signs transverse displacements of the points F and A are the same, 3, 4; k F and k and A are equal in magnitude, if the signs transverse displacements of the points F and While the opposite, 1, 2). The ratio of the values of the coefficients of F and k k A choose from a variety of reasons. For example, if to consider, that the deviation of the direction of motion of the ship from the set will be within + / -90°, this ratio will be determined by the expression:
k A = k F x ( 1 + l | d F | ) - 1 ,where l is the distance between the points F and A.
However, for positioning managed vessel at a given point in a given direction considered as a prototype of the method of control of the moving object (Pat. The Russian Federation №2263606) does not meet the conditions of the withdrawal of a vessel in the position when the current position is conditional point C (figure 5) in the horizontal plane will coincide with the position of the specified point D.
The technical result, the attainment of which are directed by the invention consists in that the conditions of confinement of the positioning of the vessel at a specified point on a given line.
To achieve the technical result of the way the control of the moving vessel, when within the outline of a ship in its diametrical plane choose two points, one of which is located to the nose of the ship (point F in figure 1, figure 4), and the other to the stern of the vessel (point A in figure 1-4) with respect to the plane of the middle frame. The distance between the points F and A are selected depending on the technical possibilities of accommodation in these points is receiving antennas of the satellite navigation system (SNS). The more the distance, the better the system of management of vessel's position relative to a given line.
The coordinates of these points define continuously with high accuracy (+1.0 m), it became possible with the introduction of the SNA shore stations, computing and transmitting vessel differential corrections.
Coordinate values continually calculate the transverse displacement of the point F (d, F ) and point A (d A ) from a given line. Moreover, the transverse displacement of a point from a given line is considered positive if it moves to the right, and negative if it is shifted to the left (Fig.1-4).
Transverse displacement produce the signal for the operation of separate elements or the entire propulsion and steering gear of the ship by law:
σ=-k F x d F +k A x A d ,
where k F k A - the gain of the transverse displacements of the bow and stern points of a vessel from a given line. This is a positive value, and k F k A more . Signal σ is considered positive if the vessel rotation clockwise and negative when the vessel rotation counterclockwise. Figure 1-4 shows the major variants of possible deviations of the vessel 1 from the given line 2. For example, figures 1, 2 DP 3 vessels 1 crosses a certain line 2 at a certain angle, the value of which is characterized by the values of the transverse displacement of the point F(d, F ) and point A(d, A )and d more F 0 d A is less than 0 in figure 1 and d F is less than 0, d A is greater than 0 (figure 2). In the first case (Fig 1) according to the law elements propulsion-steering complex will provide rotation of the ship counterclockwise, which will lead to reduction of a d F d A and ultimately to the exit of a vessel on a given line; in the second case (figure 2) control signal will have a positive value and propulsion and steering the complex will provide the vessel rotation clockwise, which will lead to reduction of a d F d A and to the exit of a vessel on a given line.
Figure 3, 4 3 DP vessel 1 intersects with the given line 2 and transverse displacements of the points F And have the same signs, the positive in figure 3 and negative figure 4. Sign σ and the corresponding direction of rotation of the vessel, provided its propulsion-steering complex, depend on the ratio of values of the coefficients of F and k k A (k F k A more , if the signs transverse displacements of the points F and A are the same, 3, 4; k F and k and A are equal in magnitude, if the signs transverse displacements of points F and A are the opposite, 1, 2). The ratio of the values of the coefficients of F and k k A choose from a variety of reasons. For example, if to consider, that the deviation of the direction of motion of the ship from the set will be within + / -90°, this ratio will be determined by the expression:
k A = k F x ( 1 + l | d F | ) - 1 ,where l is the distance between the points F and A.
However, for positioning managed vessel at a given point in a given direction is considered as a prototype method of control does not meet the conditions of the withdrawal of a vessel in the position when the position of the conditional point C (figure 5) on the plane, will coincide with the position of the specified point D.
A distinctive feature of the proposed method from the above-known, the most close to him, is the following:
additionally, to ensure the withdrawal of the positioning of the vessel specified in point D, which is the coincidence points C and D on a plane, form an extra control signal by law
δS=k S d S ,
where k S gain on longitudinal shift of the imaginary point D (figure 5) from the line perpendicular to the specified line (conditionally line L1) and passing through the given point C (conditionally line L2), is a positive value. Figure 5 shows two possible deviations point C on the line L2, here is the mark of relevant deviations d S . The current point C, located within the hull of a ship in its PD, is determined proceeding from the value of the current coordinates of the nasal F and feed A point.
The proposed method of management of a moving vessel when positioning it in a given direction at a given point in the horizontal plane shall exercise the following way:
within the outline of a ship in its diametrical plane choose two points, one of which is located to the nose of the ship (point F in figure 1, figure 4), and the other to the stern of the vessel (point A in figure 1-4) with respect to the plane of the middle frame. The distance between the points F and A are selected depending on the technical possibilities of accommodation in these points is receiving antennas of the satellite navigation system (SNS). The more the distance, the better the functioning of the control system of the ship motion relative to a given line. When the direction of a given line L1, for example, coincides with the direction of the DP vessel with its position on the surface of the water meets the minimum external power influence of environmental factors (wind, waves, current).
The coordinates of these points define continuously with high accuracy (+1.0 m), it became possible with the introduction of the SNA shore stations, computing and transmitting vessel differential corrections.
Coordinate values continually calculate the transverse displacement of the point F (d, F ) and point A(d A ) from a given line. And transverse displacements of the point on a line is considered to be positive if it moves to the right, and negative if it is shifted to the left (Fig.1-4).
Transverse displacement produce the signal for the operation of separate elements or the entire propulsion and steering gear of the ship by law:
σ=-k F x d F +k A x A d ,
where k F k A - the gain of the transverse displacements of the bow and stern points of a vessel from a given line. This is a positive value, and k F k A more . Signal σ is considered positive if the vessel rotation clockwise and negative when the vessel rotation counterclockwise. Figure 1-4 shows the major variants of possible deviations of the vessel 1 from the given line 2. For example, figures 1, 2 DP 3 vessels 1 crosses a certain line 2 at a certain angle, the value of which is characterized by the values of the transverse displacement of the point F(d, F ) and point A(d, A )and d more F 0 d A is less than 0 (Fig 1) and d F is less than 0, dA greater than 0 (figure 2). In the first case (Fig 1) according to the law elements propulsion-steering complex will provide rotation of the ship counterclockwise, which will lead to reduction of a d F d A and ultimately to the exit of a vessel on a given line; in the second case (figure 2) control signal will have a positive value and propulsion and steering the complex will provide the vessel rotation clockwise, which will lead to reduction of a d F d A and to the exit of a vessel on a given line.
Figure 3, 4 3 DP vessel 1 intersects with the given line 2 and transverse displacements of the points F And have the same signs, the positive in figure 3 and negative figure 4. Sign σ and the corresponding direction of rotation of the vessel, provided its propulsion-steering complex, depend on the ratio of values of the coefficients of F and k k A (k F k A more , if the signs transverse displacements of the points F and A are the same, 3, 4; k F and k and A are equal in magnitude, if the signs transverse displacements of the points F and While the opposite, 1, 2). The ratio of the values of the coefficients of F and k k A choose from a variety of reasons. For example, if to consider, that the deviation of the direction of motion of the ship from the set will be within + / -90°, this ratio will be determined by the expression:
k A = k F x ( 1 + l | d F | ) - 1 ,where l is the distance between the points F and A.
However, for positioning managed vessel at a given point to be considered as a prototype of the method of control does not meet the conditions of the withdrawal of a vessel in the position when the position of the conditional point C (figure 5) on the plane, will coincide with the position of the specified point D.
To ensure the withdrawal of the positioning of the vessel specified in point D, which is the coincidence points C and D on a plane, form an extra control signal by law
δS=k S d S ,
where k S gain on longitudinal displacement of a given point D (figure 5) from the line perpendicular to the specified line (conditionally line L1) and passing through conditional point C (conditionally line L2), is a positive value. Figure 5 shows two possible deviations point C on the line L2, here is the mark of relevant deviations d S . The current position of the imaginary point C, located within the hull of a ship in its PD, is determined proceeding from the value of the current coordinates of the nasal F and feed A point.
As a result of application of the present invention is an opportunity to obtain a technical result - ensuring retention of the positioning of the object, such as a ship, on a line, and at a given point on a given line.
The method of control of a moving vessel, which is characterized by the fact that in within the outline of a ship in its median plane (DP) choose two points, one of which is located to the nose of the ship - point F, and the other to the stern of the ship - to-point And the plane middle frame specified line L1, the direction of which coincides with the direction of the DP vessel with its position on the surface of the water meets the minimum external power influence of environmental factors, continuously determine with high accuracy (+1.0 m) are the coordinates of these points and calculate the transverse displacement of the point F (d, F ) and point A (d A ) from a given line L1, transverse shift produce a signal to the deviation of the steering body of the vessel by law United Nations=- k F x d F +k A * d A k F k A - the gain of the transverse displacements of the bow and stern points of a vessel from a given line L1, optionally use the conditional point located within the hull of a ship in its APS, the current position which is determined proceeding from the value of the current coordinates of the nasal F and fodder And points, and given point D button located on a given line L1, the provisions of points C and D are the same on the plane, they form an additional control signal by law δS=k S d S , where k S the gain on longitudinal displacement of a given point D on a line perpendicular to a line L1 and passing through conditional point conditionally line L2.