Algorithm for yaw stabilization of a towed vessel

Towing is one of the most difficult and risky tasks of navigation, since in this case two or more vessels are involved simultaneously. A minimal number of towing-related accidents have been recorded, but they still occur, and the issue remains of improving the safety of such operations. Many years of research and practical experience in conducting towing operations confirm the direct dependence of the safety of their conduct on the trajectory of the towed vessel. The results of the analysis indicate that the disadvantage of existing methods of towing vessels is the yawing of the towed vessel, which leads to an unnecessarily large loss of speed even in light seas, which is mainly caused by the presence of external disturbances. It is proved that in order to increase the safety of towing operations, it is necessary to stabilize the yaw of the towed vessel. An algorithm has been developed to stabilize the ship's course, which allows it to solve the problem of towing along a given trajectory. The algorithm is based on the model of angular motion of the vessel, which operates with the angular velocity of the towed vessel and the angle of rudder adjustment. Such a model of the angular motion of a towed vessel is used, in which this speed can be controlled by the effects of the angle of the rudder. At the same time, the stabilization algorithm “converges” to a stable course even in the presence of significant external disturbances. The resulting mathematical model is solved using the least squares method and is capable of both stabilizing and minimizing the yaw of the towed vessel. The proposed empirical method for assessing the stability of the course of a towed vessel can provide additional navigational safety for towing operations.