JUSTIFICATION FOR IMAGE OF EQUIPMENT FOR UNDERWATER CARGOES
Abstract
The purpose of the study is to develop a method of interaction of a vessel with underwater
cargo for both loading and transporting. The article presents the findings of the research on reacting
a unit for lifting underwater cargo onto a vessel. The image of the unit was formed on the basis
of an assessment of possible technical solutions, theoretical findings and modelling. The analysis
of the previous research on creating alternatives is being carried out in the given research. To
dock with underwater cargo from the vessel, a special receiving module is lowered at four suspension
supports, a cable suspension scheme is of great preference. Four mechanisms have been developed
to form the basis of the unit such as the lifting mechanism, the compensation mechanism,
the damping mechanism and the locking mechanism. The lifting mechanism is based on electric
winches on electric asynchronous motors worked on vector control. The rope of the lifting mechanism
is bound through the pulley to the load. To compensate for the disturbances caused by the
rolling of the carrier vessel, a hydropneumatic system is included in the rupture of the cable line,
which fends off the emerging dynamic loads by moving the rods of the hydraulic cylinders. The
damping mechanism absorbs the energy of the impact of the platform of the descent module with
the hull of the vessel in the mooring mode. The locking mechanism ensures reliable fastening of
the descent module with or without underwater cargo in a stowed position with the hull of the
carrier vessel. The model of an asynchronous motor with a short-circuited rotor is obtained from a
generalized circuit by shorting the rotor windings. A frequency control method is provided, the
rotor flow coupling vector is taken as the base vector. The cable suspension model takes into account
its deformation during movement during operation. The compensation mechanism model is
based on an adiabatic process in a macroscopic system, in which the system does not release any
heat to room. While calculating and modeling, the parameters of the nodes and mechanisms are
selected in such a way that technically feasible conditions for the operation of the unit are provided.
The loads on the cable system are limited and its sagging is excluded, the stroke of the compensator
carriage is minimized. As a result, a quasi-uniform lifting of the underwater cargo was
obtained with minor speed fluctuations during the rolling of the carrier vessel.
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