Apparatus and method for the purpose of fault monitoring of the vane of a watercraft

摘要

The invention describes a device and a method for the purpose of fault monitoring of the vane of a watercraft, wherein in a function of a predetermined nominal - rudder angles (2) with the help of a rudder model the behavior of the rudder are reproduced and an estimated therefrom is - rudder angles (10) is generated, as a function of the current is - rudder angles (4) and the estimated is - rudder angles (10) forms a residual (14) is generated, which a difference between the current is - rudder angles (4) and the estimated is - rudder angles (10), and the residue (14) with the aid of an algorithm and calculates an output signal (6) is generated, which in a function of the result of the processing indicates whether a disturbance of the rudder is present or not.