Особенности методики проведения экспериментальных исследований системы адаптивного управления судовых грузоподъемных устройств

Abstract

Lowering and recovery operations, as well as towing underwater and surface objects are carried out with the help of a ship winch. As a result of the impact of any external disturbances, longitudinal oscillations appear in the towing rope, whose resonant maxima may fall into the vessel’s frequency range. The longer the cable, the greater the number of resonant frequencies in the operating range. Such operating conditions of the ship’s lifting equipment have a negative impact on the operation of the ship’s power plant as a whole. In order to increase the reliability of deck lifting equipment it is proposed to use an adaptive control system that would respond in a timely manner to changes in loading. Lifting equipment of a fishing vessel with non-stationarity of dynamic processes in operation is considered as an application of such a system. There is considered a principle of operation of the adaptive hydraulic drive of a trawl winch. The important scientific and technical problem of developing a complex mathematical model of the above control system has been solved. The directions of experimental research are determined. There is proposed a laboratory unit to evaluate the influence of the parameters of a mechanical system on the dynamics of a hydraulic drive of a load-lifting device adaptive to load variability. The unit operates due to changing the number and weight of the load discs installed on the driving and driven pulleys and simulating a change in the inertial coefficient, which is typical for a trawl winch. The second direction of experimental research is the verification of the adequacy of the obtained mathematical models. There are presented the results of the verification in the form of calculated and averaged experimental dynamometer cards, which are well correlated, with deviation up to 8%.