PROPOSALS FOR THE DEVELOPMENT OF METHODS OF SHIP TRAFFIC CONTROL IN THE PORT WATER AREA
Keywords:
automation, navigation, knowledge base, navigation safety, danger zone, decision support, manoeuvring, ship route, model, navigational hazard, navigational situation, navigation restrictions, obstacle, port, port area, decision making, programmed course value, safety management system, navigator, trajectory, ship motion control, formalisation, artificial intelligenceAbstract
During the study, the methods of setting the ship's motion trajectory for different navigation areas with their inherent navigation conditions based on the methods of analytical geometry and physical principles of ship manoeuvring are proposed. The mathematical apparatus used for setting trajectory lines has proven to be effective, which facilitates the operation of automatic controllers. For each of the trajectory types, a functional principle of forming control influences and pseudo-controls based on the theory of automatic control has been developed. The controllers are based on the principles of PID control. The introduction of an additional angular acceleration channel in the control of an unstable ship makes it possible to convert oscillatory transients into aperiodic ones. This approach expands the stability range of the control system and significantly improves the quality of control in terms of efficiency and safety due to the possibility of increasing the control system gain. According to the results of modelling the ship's motion on each type of trajectory with the selected controller, the deviations from the given trajectories do not exceed the value permissible according to safety criteria for each of the navigation areas.
