Abstract
The article analyses the problems connected with ensuring the coordinated operation of slipway drives that arise during the launch of a ship. The dynamic model of load of the electric drive of the ship’s cart is obtained taking into account the peculiarities of the construction of the ship-lifting complex, which allows us to analyse the influence of external factors and random influences during the entire process of launching the ship. A linearized mathematical model of the dynamics of a complex vessel movement in the process of descent in the space of states is developed, which allows us to identify the mode of operation of the multi-drive system, taking into account its structure. The analysis of application efficiency of recurrent methods for identification (stochastic approximation and least squares) of the linearized model parameters in the space of states is carried out. A decision support system has been developed in the automated system of operational control by the module for estimating the situation and the control synthesis to ensure a coherent motion of a complex ship-carts object in a two-phase environment.
Highlights
Shipbuilding and ship repairing are the most important sectors of the economy in countries with access to the sea or which have large river systems
Let us consider identification procedures using the methods of recurrent stochastic approximation and least squares to determine the parameters of the model for the process of moving a ship on a slipway, represented in the form (17)
The upper level of the control system is implemented using a controller, a set of appropriate input/output modules that form the central control unit (CCU), whose task is to coordinate the work of local lower level systems in order to stabilize the rotational movements of the vessel on the slip and maintain it uniform translational motion
Summary
Shipbuilding and ship repairing are the most important sectors of the economy in countries with access to the sea or which have large river systems. Depending on the technology of the construction of vessels, as well as their size and purpose, different facilities for moving ships to and from the water are used [1,2,3]. The slipways make up about 30% of all existing boat launch systems and apply to 60% of shipbuilding facilities. The main problems of these facilities are the use of outdated control systems on the one hand and their considerable deterioration on the other, these facts a number of difficulties during the operation of the launching facilities. The ship-lifting facilities are complex electromechanical systems. For descent or ascent using a slipway, the vessel is mounted on special carts, which moves along rail tracks is located on an inclined plane at an angle α of 6–10◦.
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