Mathematical model of ships moving with a nonstandard propulsion 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...