Wheeled vessel dynamics at change of heading

Abstract

Manoeuvring of a wheeled vessel is carried out by changing the ratio of rotation speeds of propeller wheels located along the sides in the stern of the vessel. The article on the basis of the mathematical model of the wheeled vessel considers the dynamic characteristics of the vessel-control system complex when changing the course of the vessel. It is proposed to include sections of own movements of the vessel-control system complex (movements along which would be carried out without external influences) when synthesizing the trajectory of movement when changing course. Described is an algorithm for controlling the change in the ship's heading using its own movements of the ship control system complex. The results of mathematical modeling of the dynamic characteristics of the complex are given when implementing the algorithm for the transition of the vessel to a new course using the proposed approach.