SU1237555A1 - Method of automatic control of ship course - Google Patents

Description

The invention relates to shipboard automatics, in particular, to devices for stabilizing a vessel on a given course.

The aim of the invention is to increase the efficiency of control.

On what) is the block diagram of the device.

The device for automatic control of the ship's course contains a series-connected selsyn-receiver 1 of the gyrocompass, a mechanical differential 2 with the steering wheel and a sensor 3 of the course, the output of which is connected to the inputs of the differentiating unit 4 and the integrating unit 5. The outputs of the sensor 3, units 4 and 5 are combined and connected to the follower drive 6, coil, connected in series connected power amplifier 7, actuator 8, steering gear 9. The feedback position of follower drive 6 includes a coil position sensor 10, the output of which Pogo is connected to the shaper 11 of the rate of change of the rudder angle. Shaper 11 includes a demodulator 12 with a filter, a differentiating amplifier 13 and a modulator 14. The shaper outputs 11, which are the outputs of the modulator 14, are combined respectively with the outputs of the sensor 3, the differentiating and integrating blocks 4 and 5, as well as the output sensor 10 tracking drive 6.

The device is automatic in the course of the vessel’s course as follows.

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When the ship deviates from the given course from the gyrocompass, a signal is sent to the selsyn receiver 1, which, through differential 2, turns the sensor 3 of the course, whose input is electrically connected to the inputs of the differentiating and integrating units 4 and 5. At the output of the sensor 3, the differentiating and the integrating units 4 and 5, signals are generated that are proportional to the velocity angle and the integral of the yaw angle. The total signal amplified by the power amplifier 7 is fed to the actuating mechanism 8, which acts on the control unit of the steering machine 9. Reluva machine 9 turns the steering wheel and the sensor 10 of the steering wheel south. The signal from the sensor 10 is fed to the input of the shaper 11.

The signal from sensor 10 is demodulated and filtered by demodulator 12, differentiated by amplifier 13. A signal proportional to the derivative of rudder angle is received at the input of modulator 14. The signal from the output of the imaging unit 11, together with the signals proportional to yi .y, the derivative and the integral of the angle of rust, from the outputs of sensor 3, blocks 4 and 5, is fed to the input of the following drive 6, which also receives the signal from the output of sensor 10. Reel steering occurs until the signals, which are relative to the angle, derivative and integral of the yaw angle, become equal to the signals but the rudder angle and its derivative. The transfer of the rudder will stop and the vessel will begin to return to the desired course.

Claims (1)

AUTOMATIC VEHICLE CONTROL SYSTEM, containing a gyrocompass selsyn receiver connected in series, a mechanical differential with a steering wheel and a heading sensor, the output of which is connected to the inputs of the differentiating and integrating units, the outputs of which are combined with the heading sensor output and connected to the rudder servo drive, which differs in gem. that, in order to improve control efficiency, it is equipped with a rudder angle shifter, the input of which is connected to the output of the rudder servo drive position sensor, one of the outputs is combined with the outputs of the integrating and differentiating blocks and the heading sensor, and the other with the output of the rudder servo position sensor . N — A u so-ch Sp SP SP 7 /