28 
• “Adjust course made good”: keeps the course made good at a set value. From the 
difference between actual course and set course, a set heading \y s is determined 
• “Adjust track”. This function determines a set course made good Ks from the current 
track deviation At,. 
t 
Reference ^ 
Adjust tack 
Ks t 
tack " j 
Jl 
- ——>j Adjust course !—»O— 
i 
Adjust heading 
Actuai 
position 
Distuitxsnce 
variables 
1 
•j Distance covered r 
Figure 3: The functionality “Set direction” 
The deviations At,, A K and A ¥ are resultant information of the task “Determining set/actual deviations”. 
The controller behaviour is governed in each case by means of a set of parameters (P*). These pa 
rameters on the one hand determine the characteristics of the controller (time constants, proportionality 
factors, etc), and on the other hand certain limit values are stipulated here (e.g. track controller: off- 
course limits/off-track limits). These parameters are relevant solely for the case of automatic track fol 
lowing. 
The functionality “Set speed” serves to exert influence on the present speed. The following input vari 
ables are considered (see Figure 4): 
• Difference between set and actual speed 
• Limit values, eg from manoeuvring limits which are incorporated as parameters in the 
speed control process. 
Distubonce 
variables 
<2- 
A , 
r 
' 
r 
Adjust speed 
X *■ 
□stance covered 
p 
Figure 4: The functionality “Set speed’