Dynamics of vessel with wheel propulsion steering system under external conditions
Wind impact significantly complicates the process of controlling the ship. This problem is acute for new type vessels with a wheel propulsion steering system (WPSS). These vessels have low draft, high sail, they do not have a rudder, and they are controlled by two paddle wheels with independent drives in the stern of the vessel. It is not possible to obtain an acceptable control quality with manual control of the wheel drives. The article presents the research results of dynamic characteristics of the vessel with a WPSS under wind impact using its mathematical model. The relationship of the ship's torque at the shift of the center of wind force application and the parameters of the wind effect (wind direction and strength) is determined. The magnitude and direction of the total thrust vector of the paddle wheels are determined at different ratios of their rotation frequencies, as well as the radius and trajectory of circulation when moving without wind and with wind with different initial conditions. The authors analyse the dependence of the total impact (propulsion and wind) on the ship on the wind impact characteristics. An algorithm for controlling the propeller wheel drives has been developed. The algorithm ensures keeping the vessel on a given trajectory under wind impact. The results of mathematical modeling of the control process during the implementation of the proposed control algorithm in various operating modes are presented. The obtained results were used in the design of an integrated passenger ship control system with WPSS.