Керування буксируваною системою зі змінною довжиною для детального дослідження малорозмірних обʼєктів на дні акваторії

• Дата: 2024
• Автори: Klymenkov, Oleh, Berchun, Yaroslav
• Формат: Стаття
• Мова: Ukrainian
• Опубліковано: V.M. Glushkov Institute of Cybernetics of NAS of Ukraine 2024
• Теми: система з розподіленими параметрами; керування; динаміка; змінна довжина
• Онлайн доступ: https://jais.net.ua/index.php/files/article/view/425
• Назва журналу: Problems of Control and Informatics

The dynamics of geometrically nonlinear mechanical systems in a water environment with variable dimensions represent one of the least studied problems in mechanics. Despite numerous studies conducted in the field of static and dynamic analysis of cable systems, many aspects of their behavior during unsteady motion remain unclear, such as the issue of stability loss during transport in a flow, the evolution of cable systems under controlled length changes, the correct selection of the system’s dynamic coefficient during complex maneuvers of a transport vessel, questions regarding loop formation, disruption of laying conditions, and so on. The necessity of investigating these dynamic problems of cable systems (ropes, cables, chains) in flow is dictated by their widespread use as essential components in aerial tramways, mine hoists, crane equipment, anchoring systems, and transportation in flow, as well as marine drilling platforms. Mathematical models reflecting the dynamic behavior of cable systems in a spatially inhomogeneous field of mass and surface forces are typically described by nonlinear partial differential equations, the solutions of which can only be achieved using computational methods. The text presents various theoretical, numerical, and practical developments related to the control of a submerged towed system with variable length, used for detailed studies of small objects on the bottom of a water area. The cable is not only a component of the overall dynamic towing system but also acts as an independent control object. A numerical analysis of a continuous model of the dynamics of a variable-length cable with an unmanned underwater vehicle in flow during maneuvering with variable length in the vertical plane has been conducted. From the analysis, one can conclude that the constructed physical and mathematical model qualitatively describes the experimentally observed rapid processes during the towing of a variable-length cable system with an unmanned underwater vehicle under controlled length conditions.