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Vol. 25 (2022 year), No. 4, DOI: 10.21443/1560-9278-2022-25-4

Solovyov A. A., Shugay S. N.
Application of the proportional navigation method in solving problems of navigation

The development of methods and algorithms for ship control when maneuvering relative to a moving object and the creation of automated control systems based on these developments is an urgent task of navigation. The most optimal way to implement control of a moving object relative to another moving object is based on using the proportional navigation method. As applied to navigation problems, this method has been studied at the level of describing the kinematics of the movement of two points. The mathematical model provides for a preliminary calculation of the extrapolated ship coordinates. The construction of ship motion trajectories for any given proportionality factor is carried out taking into account the dynamics of the ship and makes it possible to obtain the law of rudder shift, as well as to predict changes in the process of maneuvering such ship parameters as angular velocity and drift angle. The proposed mathematical model can be used for algorithmic and software support for automated ship control systems when maneuvering relative to a moving object.

(in Russian, стр.8, fig. 7, tables. 0, ref 11, AdobePDF, AdobePDF 0 Kb)

Vol. 27 (2024 year), No. 4, DOI: 10.21443/1560-9278-2024-27-4

Solovyov A. A., Shugay S. N.
Modeling the motion of a ship with suspended cargo

The stability of a vessel determines its ability to safely navigate in any sea state. In the process of studying the dynamics of a vessel in rough seas, the method of mathematical modeling based on the linear theory of waves and rolling has been used. The models allow obtaining calculation formulas and methods used to analyze the rolling of vessels with shifting cargo on board (liquid, bulk, suspended). The effect of suspended cargo on the seaworthiness of a vessel is currently considered only when solving problems of static stability. When solving problems of dynamics, mathematical models of the roll of a vessel with suspended cargo in calm water and regular waves have been proposed, and linear differential equations of the roll of a vessel with suspended cargo have been obtained. The presence of suspended cargo on a vessel significantly changes the parameters of the roll due to the occurrence of heeling and variable moments of inertia of the vessel. The proposed mathematical methods allow simulating the roll in any regular waves, taking into account arbitrary values of the transverse metacentric height, cargo weight and suspension length.

(in Russian, стр.7, fig. 5, tables. 0, ref 10, AdobePDF, AdobePDF 0 Kb)