A New Method of Designing Underwater Towed System

Trunin

2021

EEJET

This paper considers the issues and theoretical aspects related to improving the design of maritime tethered systems (MTSs) with flexible links (FLs) using underwater towed systems (UTSs) as an example. That allows them to be used in the early stages of design by implementing the principles of Shipbuilding 4.0 and BIM technologies. Such regimes have not previously been described by existing mathematical models (MMs). The expected result of the current study is a significant decrease in the cost of different resources. At the same time, the basic reliable results of design solutions could be obtained already in the early stages of design. The theoretical basis of the proposed method for improving the design of MTS with FL is the improved design concept (IDC) for MTS with FL while the tool base of the method is a special modeling complex (SMC). The use of IDC along with SMC at the research (pre-prototype) design phase reduces the number of MTS design stages. The proposed method to improve the design of MTS with FL, based on the MM that notates the dynamics of MTS FL and MTS with FL, makes it possible to investigate different modes of operation of almost all MTS classes. That allows devising the recommendations for predicting possible operational loads in order to design their elements. At the same time, there is an opportunity to improve the existing methods for calculating and designing MTS with FL with the required properties and parameters, and to bring them to the level of engineering application. The application of SMC at the pre-prototype design stage makes it possible to avoid the use of physical modeling of the operational regimes of MTS with FL associated with the full-scale testing on the high seas

Section: Discussion Of Results Of Studying the Design Process Of Marimentioning

confidence: 99%

“…Work [6] examines the hydrodynamic model of a towed system. The model of the towed cable in the cited work is based on the Ablow and Schechter method.…”

Section: Introductionmentioning

confidence: 99%

Improving the designing of marine tethered systems using the principles of shipbuilding 4.0

Trunin

2021

EEJET

“…Paper [3] considers the hydrodynamic model of the towed system. The towed cable model in the cited paper is based on the Ablow and Schechter method.…”

Section: Literature Review and Problem Statementmentioning

confidence: 99%

Construction of a mathematical model to describe the dynamics of marine technical systems with elastic links in order to improve the process of their design

Trunin

2020

EEJET

Розробленi математична модель (ММ) опису динамiки елемента ГЗ МТС, в якостi приклада якої розглядається пiдводна буксирувана система (ПБС), та ММ МТС з ГЗ. ММ динамiки елемента ГЗ дає можливiсть враховувати: 1) рух судна-носiя (СН); 2) особливостi конструкцiї ГЗ, якi впливають на функцiональнi характеристики МТС; 3) рух пiдводного апарату (ПА); 4) вплив перешкод на шляху руху ПА та ГЗ; 5) значнi перемiщення ГЗ в складi МТС. Математична модель МТС з ГЗ дозволяє вирiшувати наступнi завдання: 1) визначати змiну форми ГЗ та сил її натяжiння в процесi маневрування СН та ПА з урахуванням морських хвиль, вiтрових навантажень на СН, глибини моря та її змiни у визначенiй акваторiї, маси та пружних якостей ГЗ; 2) визначати вiдносне положення СН та ПА в процесi їх маневрування; 3) визначати максимальнi навантаження на ГЗ, необхiднi для оцiнки його мiцностi в процесi маневрування СН i ПА. Аналiз проектних завдань при створеннi морських прив'язних систем (МПС), як рiзновиду МТС, показує, що значну теоретичну складнiсть та наукоємнiсть отримують розрахунки ГЗ МПС. Запропонована методика удосконалення проектування МТС з ГЗ, заснована на ММ опису динамiки ГЗ МТС (а також МТС з ГЗ), дає можливiсть дослiджувати рiзноманiтнi режими експлуатацiї практично всiх класiв МПС. За її допомогою виникає можливiсть удосконалювати iснуючi методи розрахункiв i проектування МПС з ГЗ, довести їх до рiвня iнженерного додатку Ключовi слова: гнучкий зв'язок, морська технiчна система, математична модель опису динамiки гнучкого зв'язку, удосконалення проектування МТС з ГЗ

“…TUV hydrodynamic model is studied in [10]. The authors propose a new method of calculating the ideal towed system based on the calculation of Euler angles and determining the tension force at the CT end point.…”

Section: Literature Review and Problem Statementmentioning

confidence: 99%

Formulation of Design Tasks of Towed Underwater Vehicles Creation for Shallow Water and Automation of Their Motion Control

EUREKA: Physics and Engineering

Sokolov²,

Kucenko

2019

The towed underwater system is one of the fixed assets of the study of water areas. The effectiveness of its application depends on the characteristics laid at the design stage. The main task of the towed underwater vehicle (TUV) is the motion of technological equipment. Therefore, it is important to ensure the specified dynamic properties of the unit and automate the control of its motion. In the paper the typical forms of the unit are analyzed, the features of their control at small depths are set. TUV control is carried out in conditions of uncertainty. Therefore, the design of an automatic control system (ACS) for its motion is proposed to be carried out using the appropriate synthesis method – the method of minimizing local functionals. The control law contains integral components and, under the constraints of control actions, generates the problem of integral saturation. To eliminate the integral saturation in the work, the condition integration method is improved. On its basis, the control law and the structure of the controller of high dynamic accuracy of a second-order nonlinear object are synthesized. It is the basis for the synthesis of ACS controlled degrees of freedom of the underwater vehicle in conditions of uncertainty. Usually TUVs contain two degrees of mobility. Translational motions of the unit are generated by changing its angular orientation. The paper synthesizes TUV controllers of pitch and roll based on the control law of the second order. Each control signal of the unit can affect both the roll and the pitch of the unit, which leads to decrease in the quality of control in general. To coordinate the work of controllers, a method is proposed, which is based on adjusting the initial conditions of the controller with greater error. On its basis, the automatic control system of the rotational motion of the unit is synthesized. It provides high dynamic precision control of two-dimensional rotational motion of the unit in uncertainty and is the basis for the ACS synthesis of its translational motion in space.