The work is devoted to the development of theoretical and practical principles of the vessel motion control processes automation based on open modular systems. The object of research is the processes of the vessel motion control using open expandable automatic control modules in automated systems. The aim of the study is to increase the efficiency of automated vessel motion control systems through the development of scientific and technical bases, principles and methods of creating open, modular automated systems with a central computer and expandable modules of automatic control, development of models, methods and principles of automatic vessel motion control. Research methods used: system approach; analysis and synthesis; imaginary experiment; abstraction, as well as methods of the theory of automatic and optimal control, in the development of mathematical and software modules of automatic control; methods of solid mechanics, hydrodynamics, mathematical analysis and vector algebra, in the study of the pivot point and vessel rotation center; methods of differential calculation, in the study of transients and steady motions; methods of using neural networks to build a mathematical model of the vessel; methods of nonlinear algebra, in the study of redundant control structures; methods of numerical integration, when conducting mathematical modeling. At present, the use of open modular distributed automated systems with a central computer and expandable modules for automatic control of the vessel motion is of great interest. For the first time developed methods of forming controls, including optimal ones, which consist in finding the final formulas for calculating controls for the movement of the vessel around the pivot point with a given lateral and angular velocity, in contrast to existing solutions, provide automatic control of vessel movement, reduce the impact of the human factor and increase control efficiency; developed a method of the actuators redundant structures control, which, unlike existing ones, use redundancy to increase the efficiency of control processes by: building optimal controls, or splitting controls in accordance with the selected law; readjustment of the redundant structure without creating disturbing forces and moments to the selected aim function, which allows to increase the efficiency of control processes. Improved: provisions of the pivot point concept, in which, unlike existing solutions, three (rather than two) special centers are considered - the center of gravity, the rotation center and pivot point, the pivot point position is calculated relative to the rotation center, and the rotation center is calculated relative to the gravity center, taking into account the longitudinal speed of the vessel, which allows you to more accurately approximate the calculation scheme to the real one and reduce the necessary space for maneuvering; method of synthesis and use of the vessel neural network model in the onboard computer, which, unlike the existing ones, involves the accumulation of training and reference samples in the normal operation of the vessel, periodic training of the neural network model and its further use for control tasks, which allows to constantly obtain the actual shunting characteristics of the vessel, increase control accuracy and significantly reduce the financial costs of running tests; a method of diverging a vessel with targets, which consists in constructing in the on-board computer the area of permissible parameters of divergence with all targets simultaneously, selecting the optimal parameters of divergence from this area, and which, unlike existing ones, allows you to diverge from many dangerous targets, including maneuvering ones, which makes it possible to automate the processes of divergence, reduce the impact of the human factor and increase the efficiency of divergence. Field of use - on vessels of Ukrainian and foreign ship-owners, in marine training centers, crewing companies and in the educational process of maritime educational institutions.
