VESSEL TRAFFIC MANAGEMENT SYSTEM WITH ELECTRONIC MODEL MOVEMENT

摘要

The invention relates to the field of automatic control of vessel traffic. The law of automatic traffic control filters are used, which are formed in the course of the angle assessment and evaluation of the angular velocity at the rate of the vessel. In forming the measurement changes (in the Kalman filter) using the hydrodynamic coefficients of a mathematical model of ship motion, which in the course of navigation in the specified electronic model of the vessel. The technical result of the proposed traffic management systems ship with an electronic model of the movement is to increase the accuracy and reliability of the traffic management system, the formation of more effective evaluation phase the ship's condition with the use of electronic (adaptive) model of ship motion parameters which vary significantly in the process of swimming decrease the steering load drive the ship with a strong sea waves. The technical result is achieved by the control system of movement of the vessel with an electronic motion model comprises a sensor rudder angle - δ, heading angle sensor - φ, an angular velocity sensor - ω, heading angle estimation filter - φ, filter estimation angular velocity - ω, setpoint angle course - φ _{rear ,.} , Steering gear and an adder to the input of which four sensors are connected - δ, - φ, - ω , φ _zd 2 filter - φ, - ω, the adder generates a control signal to the steering drive type: d / dtδ = K ₁(φ - _. φ _zd) + Κ ₂ω -Κ ₃ δ wherein φ, - evaluation of the course angle, is supplied to the adder input from the output heading angle estimation filter, φ _zd. - sets the course angle value - output setpoint course angle, δ. - rudder angle, - from the output steering sensor, ω - estimate the angular speed of the vessel, - a filter estimates the angular velocity, d / dtδ - steering actuator control signal output from the adder is connected to the steering drive input. The system also includes a sensor of angular acceleration - d / dtω, linear speed sensor - V _z, the longitudinal velocity sensor - V _x and the electronic model of the vessel.