Study of a minimally excessive complanary control structure with two azimuth control devices.

Abstract

Control redundancy is traditionally used to improve the reliability and maneuverability of the vessel. At the same time, the presence of redundancy also makes it possible to organize control in such a way as to minimize the selected control quality functional. This article examines the redundant structure with two stern ACDs. This structure is minimally redundant, since four controls (two screw thrust forces and two ACDs rotation angles) provide control over three degrees of freedom (longitudinal movement, lateral movement and rotational movement in the yaw channel).