The high-speed data acquisition system collects not only data from the steering gear, but also other various types of data, such as vessel speed, course, engine load and rudder angle
, during a voyage.
where Y is the output matrix, [X.sub.prop] is the thruster force, 8 is the rudder angle
, m is the mass of the vehicle, [I.sub.zz] is moment of inertia along z axis and other parameters are known as hydrodynamic parameters are given in appendix.
Apparent wind angle is a great guide when reaching, and rudder angle
is also a really good sign that you're in or out of balance.
In the inference engine, for a given object output y = [r, [psi], [delta]] (r: angular velocity, [psi]: deviation from course, and S: rudder angle
), a control decision u is generated, that is, the preset rudder angle
[[delta].sub.z], on the basis of quantities retrieved from the knowledge base [B.sub.y].
The control of the sailing direction can be realized by average rudder angle
of vertical rudders:
Finally, it is possible to receive the maximum rudder angle
[alpha][degrees] that should compensate the hydrodynamic interaction of ships in the narrow channel:
where Y is sway force, N is moment (rotation about the z-axis, with the z-axis pointing downwards as is customary in marine systems), r is yaw rate, v is sway velocity, [u.sub.0] is nominal surge velocity, [delta] is the rudder angle
, [I.sub.z] is moment of inertia about the z-axis, m is mass, [x.sub.G] is the x-axis coordinate of the center of gravity, and [Y.sub.[??]], [Y.sub.[??]], [Y.sub.v], [Y.sub.r], [Y.sub.[delta]], [N.sub.[??]], [N.sub.[??]], [N.sub.v], [N.sub.r], and [N.sub.[delta]] are added inertia hydrodynamic coefficients; for more details, the reader is referred to .
Towed testing in the ship tank sees the models pulled along under specific conditions such as a particular attitude or rudder angle
. This enables the measurement of force.
1, 2, 3 are given in Table-2 in order to find transfer functions drifting, rolling and swaying which is depended rudder angle
Convenient and easy to use, the BF60 is available with advanced features to accommodate a wide variety of boats and applications, including power thrust, multifunction bar handle and large rudder angle
for enhanced turning performance.
Using a battery-operated motor, it sets the rudder angle
based on hand-punched course coordinates.
A Sperry-built rudder angle
indicator, located in front of the quartermaster at the helm, shows how many degrees from amidships the rudder is swung.