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Managing the process of tanker towing by regulating the cable tension
DOI: 10.21443/1560-9278-2018-21-4-577-586
Abstract. Automatic control of the towing process is carried out through the impact of a controlled parameter on it – the cable tension which varies depending on the kinematic parameters of the vessel's motion. As a source of formation of the control signal, one can choose various kinematic characteristics of the towed vessel movement: the angle of deviation of the towing cable from the center line (DP); the drift angle; the angular speed of rotation of the vessel while towing. In the course of the study, an evidence-based choice of a specific control characteristic has been made. With the help of this characteristic (and its derivative if necessary), the control law is determined eliminating stable or developing self-oscillations under the action of initial perturbations. In accordance with this law, technically sound design solutions are selected from the existing patent base to help improve the methods of towing marine objects. Model solutions have been made for the project 214 RN tanker (in ballast) based on a previously calculated mathematical model. The primary problem is to solve a system of four first-order differential nonlinear equations; in this case the law of cable tension control is simply proportional. With the complication of the control law to the proportional-differential (PD), it was necessary to expand the system of differential equations to the seventh order; the initial system of the fourth order is supplemented by three equations for the derivatives of the kinematic variables of the problem. During the selection of methods for controlling the towline tension, the criterial characteristic of the control quality has been used and the mean square characteristic of the angular deviation of the towline from the PD of the towed tanker has been selected.
Printed reference: Pashentsev S. V. Managing the process of tanker towing by regulating the cable tension // Vestnik of MSTU. 2018. V. 21, No 4. P. 577-586.
Electronic reference: Pashentsev S. V. Managing the process of tanker towing by regulating the cable tension // Vestnik of MSTU. 2018. V. 21, No 4. P. 577-586. URL: http://vestnik.mstu.edu.ru/v21_4_n77/06_pashentsev_577-586.pdf.
