Author(s)

J. Kulczyk & T. Bielihski

Abstract

Integrated control system for ship motion in inland navigation J. Kulczyk, T. Bielihski Institute of Machines Desing and Operation, Technical University of Wroclaw, Wybrzeze Wyspianskiego 27, 50-370 Wroclaw, Poland EMail: jan@apollo. ikem.pwr. wroc.pl 1. Introduction The automatic steering of the ship already has a long history. The automation encompasses many of the ship's systems. The aspect of automation which this paper deals with is the automatic control of the ship's motion. This control can take place on several levels differing in their time horizons [1]. Five levels are distinguished and the last (5*) level corresponds to the direct control of the ship's motion in real time. The previous levels are connected with the determination of the optimum voyage route, taking into account the weather conditions, the navi- gational constraints and the performance of the ship in emergency situations. For a given model of the ship's dynamics, the minimum deviation of the ship from the p

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