Patent ID: 7818108

Claim:
System of automatic control of manoeuvring a motor craft, comprising; a command unit, a control unit connected to the command unit for receiving one or more signals of selection of a motion and/or a position of the craft, the control unit operative to send one or more control signals to an actuator which controls propelling and/or manoeuvring the craft, the control unit being further connected to instruments of the craft for receiving one or more detection signals, the control unit processing said one or more detection signals and said one or more selection signals for generating said one or more control signals so as to make the propelling and/or manoeuvring produce a thrust and/or a moment operative to make the craft assume the motion and/or the position selected by the command unit whereby the system substantially in real time compensates for disturbance of the motion and/or the selected position, wherein the control unit comprises: a command processor that processes said one or more detection signals and said one or more selection signals and calculates the value of said thrust and/or the value of said moment; a thrust generator that receives said value of thrust and generates one or more first intermediate signals of thrust control; a moment generator that receives said value of moment and generates one or more second intermediate signals of moment control; and an actuator control that receives said one or more first intermediate signals of thrust control and said one or more second intermediate signals of moment control and generates said one or more control signals for the actuator, and wherein the actuator control comprises a force compounder that generates at least one compounded signal A J T0T , corresponding to one of said one or more control signals for the actuator through the sum of a corresponding first intermediate signal A J T0T , from said one or more first intermediate signals of thrust control, with a corresponding second intermediate signal A J MG , from said one or more second intermediate signals of moment control: A j TG =A j TG +A j MG .