Вестник МГТУ. 2018, №4.

Вестник МГТУ. 2018. Т. 21, № 4. С. 548-557. DOI: 10.21443/1560-9278-2018-21-4-548-557 S. V. Glushkov, I. A. Mazhirin, A. K. Tyulkanov Mathematica l model o f ships moving w ith a nonstandard propu lsion and steering complex The IEC 62065 is the standard with operational requirements, methods of testing and the required test data for tracking systems and the systems of automatic control used in sea navigation. Mathematical modeling in these systems is used to create control algorithms with a proactive effect on the monitored values such as heading of ship and coordination of her location. These algorithms instantly compensate influence of the external environment, unlike systems with management algorithm based on PID-regulation. This way of mathematical modeling in IEC62065 is true only for vessels with standard propulsion and steering complex, i. e. a complex with a single-shaft screw vessel with a rudder located along a screw axis. The way of transforming the mathematical model of the moving ship according to IEC 62065 standard for vessels with a nonstandard propulsion and steering complex has been considered. As an example for transformation the vessel with two azimuthal thrusters and the nasal bow-thruster has been used. Such complete set is characteristic of supply vessels, tows and various vessels using the dynamic positioning. Using the principle offered in the paper it is possible to transform the model for the vessel with any propulsion and steering complex type. The important feature of the model is the absence of the need for hydrodynamic calculations in favor of the values received during trial runs and the analysis of maneuver "circulation". The flowchart of the initial and final models has been given explaining the differences and necessary transformations, as well as the diagram of the maneuver "circulation" and speed schedules for MIBSV "Vitus Bering" from SCF co. Ltd. with the analysis of the received error. Key words: mathematical model of the ship moving, propulsion and steering complex, dynamic positioning. 557