Розробка методу автоматичного керування додатковими вітрорушіями, гвинтом та стерном як єдиною структурою виконавчих пристроїв судна

This study investigates processes related to automatic optimal control over additional wind propulsion systems, propeller, and rudder as a single structure of vessel's actuators. The maritime industry faces significant challenges because of increasingly stringent legislative requirements for reducing emissions of harmful substances into the atmosphere and improving the climate. Among the wide range of technologies and fuel solutions considered in this context, one of the most promising ones are wind propulsion systems, which can significantly reduce fuel consumption by vessels and, as a result, decrease emissions of greenhouse gases and other harmful substances into the atmosphere. In known solutions, each sail of a wind propulsion system is equipped with a system of automatic optimal guidance to the wind, which allows for maximum utilization of wind energy. This work considers the issues of additional reduction of fuel consumption by a single-propeller conventional vessel with a wind propulsion system when moving along the route, in comparison with known solutions. The results are attributed to the use on-board controller in the vessel movement control system; to the calculation, at each step of the on-board controller, of optimal controls for the wind propulsion system, propeller, and rudder as a single structure of vessel's actuators. Optimal controls are found by solving the problem of conditional optimization of the objective function with constraints on equalities and inequalities type in the on-board controller. This allows for an additional 11% reduction in fuel consumption compared to the prototype and, at the same time, providing the necessary steering forces and torque to maintain a vessel's desired movement along the route. Results can only be achieved if the on-board computer control system has sufficient power