The system of automatic control of the vessel's movement with the estimation of external disturbance

摘要

The proposed useful model relates to the field of automation of shipbuilding -automatic management. The vessel's motion control system with an estimate of external disturbances φ_corr.sp it is effective to automatically control the movement of the vessel at the rate both in calm sea and strong sea waves due to the introduction into the law of automatic control of cyclically tunable estimates of external disturbances φ_corr.sp The reorganization of the vessel's heading control law is carried out in the adjustment block where it is cyclically corrected by the estimate of external disturbances φ_corr.sp:;- if the difference between the signals of the current course φ and the set course value φ_zd less than the permissible value ;- if the difference between the signals of the current course φ and the set course value φ_zd more than admissible value ;When condition (1) is satisfied, the control law remains unchanged during the subsequent operation of the control system in the time interval 2 ΔT.;After a time interval of 2 ΔT, the condition (1) or (2) is again formed in the adjustment block according to the signals of the course sensor and the course selector. 1 yl.