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Automatic control system for a small vessel equipped with a dynamic positioning system
Abstract
Algorithms for automatic control of a small unmanned vessel in various operational modes are proposed. In the mode of guiding the vessel along a given trajectory, the autopilot functions as an extended proportional-integral-differentiating controller, considering course deviations from the trajectory. For the dynamic positioning mode, control is decomposed by the channels of control devices, where one azipod, working together with a thruster, provides control in the transverse and rotational movements, and the other — in the longitudinal movement. In the mooring mode, control has features of both trajectory control and dynamic positioning modes.
About the Authors
Ya. V. Burylin
State Maritime University named after Admiral F. F. Ushakov
Russian Federation
Russian Federation
Yaroslav V. Burylin, Candidate of Technical Sciences, Associate Professor of the Department of Navigation
A. N. Popov
State Maritime University named after Admiral F. F. Ushakov
Russian Federation
Russian Federation
Anatoly N. Popov, Doctor of Technical Sciences, Head of the Faculty of Water Transport Operation and Navigation,
A. L. Boran-Keshishyan
State Maritime University named after Admiral F. F. Ushakov
Russian Federation
Russian Federation
Anastas L. Boran-Keshishyan, Candidate of Technical Sciences, Vice-Rector
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Review
For citations:
Burylin Ya.V., Popov A.N., Boran-Keshishyan A.L. Automatic control system for a small vessel equipped with a dynamic positioning system. Transport of the Russian Federation. 2024;(5):43-45. (In Russ.)
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