23 research outputs found
Generalized Method Of Designing Unmanned Remotely Operated Complexes Based On The System Approach
Self-propelled underwater systems belong to the effective means of marine robotics. The advantages of their use include the ability to perform underwater work in real time with high quality and without risk to the life of a human operator. At present, the design of such complexes is not formalized and is carried out separately for each of the components β a remotely operated vehicle, a tether-cable and cable winch, a cargo device and a control and energy device. As a result, the time spent on design increases and its quality decreases. The system approach to the design of remotely operated complexes ensures that the features of the interaction of the components of the complex are taken into account when performing its main operating modes. In this paper, the system interaction between the components of the complex is proposed to take into account in the form of decomposition of βunderwater tasks (mission) β underwater technology of its implementation β underwater work on the selected technology β task for the executive mechanism of the complexβ operations. With this approach, an information base is formed for the formation of a list of mechanisms of the complex, the technical appearance of its components is being formed, which is important for the early design stages. Operative, creative and engineering phases of the design of the complex are proposed. For each phase, a set of works has been formulated that cover all the components of the complex and use the author's existence equations for these components as a tool for system analysis of technical solutions.The perspective of the scientific task of the creative phase to create accurate information models of the functioning of the components of the complex and models to support the adoption of design decisions based on a systematic approach is shown.The obtained results form the theoretical basis for finding effective technical solutions in the early stages of designing remotely operated complexes and for automating the design with the assistance of modern applied computer research and design packages
Π‘ΠΏΠ΅ΡΡΠ°Π»ΡΠ·ΠΎΠ²Π°Π½ΠΈΠΉ ΠΌΠΎΠ΄Π΅Π»ΡΡΡΠΈΠΉ ΠΊΠΎΠΌΠΏΠ»Π΅ΠΊΡ Π΄Π»Ρ Π΄ΠΎΡΠ»ΡΠ΄ΠΆΠ΅Π½Π½Ρ Π΄ΠΈΠ½Π°ΠΌΡΠΊΠΈ ΡΡΡ Ρ ΠΏΡΠ΄Π²ΠΎΠ΄Π½ΠΎΡ Π±ΡΠΊΡΠΈΡΡΠ²Π°Π½ΠΎΡ ΡΠΈΡΡΠ΅ΠΌΠΈ
ΠΠ»ΡΠ½ΡΠΎΠ², Π. Π. Π‘ΠΏΠ΅ΡΡΠ°Π»ΡΠ·ΠΎΠ²Π°Π½ΠΈΠΉ ΠΌΠΎΠ΄Π΅Π»ΡΡΡΠΈΠΉ ΠΊΠΎΠΌΠΏΠ»Π΅ΠΊΡ Π΄Π»Ρ Π΄ΠΎΡΠ»ΡΠ΄ΠΆΠ΅Π½Π½Ρ Π΄ΠΈΠ½Π°ΠΌΡΠΊΠΈ ΡΡΡ
Ρ ΠΏΡΠ΄Π²ΠΎΠ΄Π½ΠΎΡ Π±ΡΠΊΡΠΈΡΡΠ²Π°Π½ΠΎΡ ΡΠΈΡΡΠ΅ΠΌΠΈ = Specialized simulating complex for studying motion dynamics of the towed underwater system / Π. Π. ΠΠ»ΡΠ½ΡΠΎΠ², Π. Π. Π‘ΠΎΠΊΠΎΠ»ΠΎΠ² // ΠΠ±. Π½Π°ΡΠΊ. ΠΏΡ. ΠΠ£Π. β ΠΠΈΠΊΠΎΠ»Π°ΡΠ² : ΠΠ£Π, 2017. β β 3 (470). β Π‘. 63β69.ΠΠ½ΠΎΡΠ°ΡΡΡ. Π ΠΎΠ·ΡΠΎΠ±Π»Π΅Π½ΠΎ ΡΠΏΠ΅ΡΡΠ°Π»ΡΠ·ΠΎΠ²Π°Π½ΠΈΠΉ ΠΌΠΎΠ΄Π΅Π»ΡΡΡΠΈΠΉ ΠΊΠΎΠΌΠΏΠ»Π΅ΠΊΡ Π΄Π»Ρ ΠΊΠΎΠΌΠΏβΡΡΠ΅ΡΠ½ΠΎΠ³ΠΎ Π΄ΠΎΡΠ»ΡΠ΄ΠΆΠ΅Π½Π½Ρ Π΅ΡΠ΅ΠΊΡΠΈΠ²Π½ΠΎΡΡΡ ΡΠΈΡΡΠ΅ΠΌ Π°Π²ΡΠΎΠΌΠ°ΡΠΈΡΠ½ΠΎΠ³ΠΎ ΠΊΠ΅ΡΡΠ²Π°Π½Π½Ρ ΠΏΡΠ΄Π²ΠΎΠ΄Π½ΠΎΡ Π±ΡΠΊΡΠΈΡΡΠ²Π°Π½ΠΎΡ ΡΠΈΡΡΠ΅ΠΌΠΎΡ Π² ΡΠΊΠ»Π°Π΄Ρ Β«ΡΡΠ΄Π½ΠΎ-Π½ΠΎΡΡΠΉβΠΊΠ°Π±Π΅Π»ΡΠ½Π° Π»Π΅Π±ΡΠ΄ΠΊΠ°βΠΊΠ°Π±Π΅Π»Ρ-Π±ΡΠΊΡΠΈΡβΠ±ΡΠΊΡΠΈΡΡΠ²Π°Π½ΠΈΠΉ ΠΏΡΠ΄Π²ΠΎΠ΄Π½ΠΈΠΉ Π°ΠΏΠ°ΡΠ°ΡΒ». ΠΠΎΠ΄Π΅Π»ΡΡΡΠΈΠΉ ΠΊΠΎΠΌΠΏΠ»Π΅ΠΊΡ Π΄Π°Ρ Π·ΠΌΠΎΠ³Ρ Π΄ΠΎΡΠ»ΡΠ΄ΠΆΡΠ²Π°ΡΠΈ ΠΏΡΠΎΡΡΠΎΡΠΎΠ²ΠΈΠΉ ΡΡΡ
Ρ Π²ΠΎΠ΄Π½ΡΠΉ ΡΠΎΠ²ΡΡ Π±ΡΠΊΡΠΈΡΡΠ²Π°Π½ΠΎΠ³ΠΎ ΠΏΡΠ΄Π²ΠΎΠ΄Π½ΠΎΠ³ΠΎ Π°ΠΏΠ°ΡΠ°ΡΠ° Π²ΡΠ΄Π½ΠΎΡΠ½ΠΎ ΡΡΠ΄Π½Π°-Π±ΡΠΊΡΠΈΡΡΠ²Π°Π»ΡΠ½ΠΈΠΊΠ° ΡΠΊ ΠΎΠ±βΡΠΊΡΠ° ΠΊΠ΅ΡΡΠ²Π°Π½Π½Ρ ΠΏΡΠΈ Π΄ΠΈΠ½Π°ΠΌΡΡΠ½ΡΠΉ Π·ΠΌΡΠ½Ρ Π΄ΠΎΠ²ΠΆΠΈΠ½ΠΈ Π²ΠΈΠΏΡΡΠ΅Π½ΠΎΡ ΡΠ°ΡΡΠΈΠ½ΠΈ ΠΊΠ°Π±Π΅Π»Ρ-Π±ΡΠΊΡΠΈΡΠ°.Abstract. There is developed a specialized simulating complex for computer-aided study of the efο¬ciency of automatic control systems for the underwater towed system Β«carrier shipβtether winchβtetherβtowed underwater vehicleΒ». The complex includes mathematical models of the dynamics of a marine moving object, ο¬exible connection and tether winch. The former is used to simulate the spatial motion dynamics of a towing vessel and a towed underwater vehicle as solid bodies in a water ο¬ow. Tether simulation employs a method of simulating a ο¬exible connection with automatic control of the axial motion of its elements, which makes it possible to account for the dynamics of the change in the length of its released part. The model of the tether winch dynamics provides simulation of the tether release and gathering. The simulation complex enables studying the spatial motion of a towed underwater vehicle in the water column in relation to the towing vessel as a control object at the dynamic change of the length of the released part of the tether.ΠΠ½Π½ΠΎΡΠ°ΡΠΈΡ. Π Π°Π·ΡΠ°Π±ΠΎΡΠ°Π½ ΡΠΏΠ΅ΡΠΈΠ°Π»ΠΈΠ·ΠΈΡΠΎΠ²Π°Π½Π½ΡΠΉ ΠΌΠΎΠ΄Π΅Π»ΠΈΡΡΡΡΠΈΠΉ ΠΊΠΎΠΌΠΏΠ»Π΅ΠΊΡ Π΄Π»Ρ ΠΊΠΎΠΌΠΏΡΡΡΠ΅ΡΠ½ΠΎΠ³ΠΎ ΠΈΡΡΠ»Π΅Π΄ΠΎΠ²Π°Π½ΠΈΡ ΡΡΡΠ΅ΠΊΡΠΈΠ²Π½ΠΎΡΡΠΈ ΡΠΈΡΡΠ΅ΠΌ Π°Π²ΡΠΎΠΌΠ°ΡΠΈΡΠ΅ΡΠΊΠΎΠ³ΠΎ ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ ΠΏΠΎΠ΄Π²ΠΎΠ΄Π½ΠΎΠΉ Π±ΡΠΊΡΠΈΡΡΠ΅ΠΌΠΎΠΉ ΡΠΈΡΡΠ΅ΠΌΠΎΠΉ Π² ΡΠΎΡΡΠ°Π²Π΅ Β«ΡΡΠ΄Π½ΠΎ-Π½ΠΎΡΠΈΡΠ΅Π»ΡβΠΊΠ°Π±Π΅Π»ΡΠ½Π°Ρ Π»Π΅Π±Π΅Π΄ΠΊΠ°βΠΊΠ°Π±Π΅Π»Ρ-Π±ΡΠΊΡΠΈΡβΠ±ΡΠΊΡΠΈΡΡΠ΅ΠΌΡΠΉ ΠΏΠΎΠ΄Π²ΠΎΠ΄Π½ΡΠΉ Π°ΠΏΠΏΠ°ΡΠ°ΡΒ». ΠΠΎΠ΄Π΅Π»ΠΈΡΡΡΡΠΈΠΉ ΠΊΠΎΠΌΠΏΠ»Π΅ΠΊΡ ΠΏΠΎΠ·Π²ΠΎΠ»ΡΠ΅Ρ ΠΈΡΡΠ»Π΅Π΄ΠΎΠ²Π°ΡΡ ΠΏΡΠΎΡΡΡΠ°Π½ΡΡΠ²Π΅Π½Π½ΠΎΠ΅ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΠ΅ Π² Π²ΠΎΠ΄Π½ΠΎΠΉ ΡΠΎΠ»ΡΠ΅ Π±ΡΠΊΡΠΈΡΡΠ΅ΠΌΠΎΠ³ΠΎ ΠΏΠΎΠ΄Π²ΠΎΠ΄Π½ΠΎΠ³ΠΎ Π°ΠΏΠΏΠ°ΡΠ°ΡΠ° ΠΎΡΠ½ΠΎΡΠΈΡΠ΅Π»ΡΠ½ΠΎ ΡΡΠ΄Π½Π°-Π±ΡΠΊΡΠΈΡΠΎΠ²ΡΠΈΠΊΠ° ΠΊΠ°ΠΊ ΠΎΠ±ΡΠ΅ΠΊΡΠ° ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ ΠΏΡΠΈ Π΄ΠΈΠ½Π°ΠΌΠΈΡΠ΅ΡΠΊΠΎΠΌ ΠΈΠ·ΠΌΠ΅Π½Π΅Π½ΠΈΠΈ Π΄Π»ΠΈΠ½Ρ Π²ΡΠΏΡΡΠ΅Π½Π½ΠΎΠΉ ΡΠ°ΡΡΠΈ ΠΊΠ°Π±Π΅Π»Ρ-Π±ΡΠΊΡΠΈΡΠ°
Model of information platform of management of protection projects of marine critical infrastructure object
ΠΠ»ΡΠ½ΡΠΎΠ², Π. Π‘. ΠΠΎΠ΄Π΅Π»Ρ ΡΠ½ΡΠΎΡΠΌΠ°ΡΡΠΉΠ½ΠΎΡ ΠΏΠ»Π°ΡΡΠΎΡΠΌΠΈ ΡΠΏΡΠ°Π²Π»ΡΠ½Π½Ρ ΠΏΡΠΎΠ΅ΠΊΡΠ°ΠΌΠΈ Π·Π°Ρ
ΠΈΡΡΡ ΠΎΠ±βΡΠΊΡΠ° ΠΌΠΎΡΡΡΠΊΠΎΡ ΠΊΡΠΈΡΠΈΡΠ½ΠΎΡ ΡΠ½ΡΡΠ°ΡΡΡΡΠΊΡΡΡΠΈ = Model of information platform of management of protection projects of marine critical infrastructure object / Π. Π‘. ΠΠ»ΡΠ½ΡΠΎΠ², Π. Π. ΠΠ°ΠΉΠ΄Π°Π½ΡΠΊ // Shipbuilding & Marine Infrastructure. β 2019. β β 2 (12). β Π‘. 4β17.ΠΠ½ΠΎΡΠ°ΡΡΡ. Π ΠΎΠ±ΠΎΡΠ° ΠΏΡΠΈΡΠ²ΡΡΠ΅Π½Π° ΡΠΎΠ·ΡΠΎΠ±ΡΡ ΠΌΠΎΠ΄Π΅Π»Ρ ΡΠ½ΡΠΎΡΠΌΠ°ΡΡΠΉΠ½ΠΎΡ ΠΏΠ»Π°ΡΡΠΎΡΠΌΠΈ ΡΠΏΡΠ°Π²Π»ΡΠ½Π½Ρ ΠΏΡΠΎΠ΅ΠΊΡΠ°ΠΌΠΈ Π·Π°Ρ
ΠΈΡΡΡ ΠΎΠ±βΡΠΊΡΡΠ² ΠΌΠΎΡΡΡΠΊΠΎΡ ΠΊΡΠΈΡΠΈΡΠ½ΠΎΡ ΡΠ½ΡΡΠ°ΡΡΡΡΠΊΡΡΡΠΈ ΡΠΊ ΡΠ΅ΠΎΡΠ΅ΡΠΈΡΠ½ΠΎΡ ΠΎΡΠ½ΠΎΠ²ΠΈ ΠΏΡΠ΄Π²ΠΈΡΠ΅Π½Π½Ρ Π΅ΡΠ΅ΠΊΡΠΈΠ²Π½ΠΎΡΡΡ ΠΏΠ»Π°Π½ΡΠ²Π°Π½Π½Ρ ΠΏΡΠΎΠ΅ΠΊΡΡΠ² Π½Π° ΡΠ°Π½Π½ΡΡ
ΡΡΠ°Π΄ΡΡΡ
ΡΠΎΠ·ΡΠΎΠ±ΠΊΠΈ. Π ΠΎΡΠ½ΠΎΠ²Ρ ΡΠΎΠ±ΠΎΡΠΈ ΠΏΠΎΠΊΠ»Π°Π΄Π΅Π½ΠΎ ΡΠΈΡΡΠ΅ΠΌΠ½ΠΈΠΉ ΠΏΡΠ΄Ρ
ΡΠ΄ Π΄ΠΎ ΠΏΠΎΠ±ΡΠ΄ΠΎΠ²ΠΈ ΡΠΈΡΡΠ΅ΠΌΠΈ Π·Π°Ρ
ΠΈΡΡΡ ΠΎΠ±βΡΠΊΡΡΠ² ΠΌΠΎΡΡΡΠΊΠΎΡ ΠΊΡΠΈΡΠΈΡΠ½ΠΎΡ ΡΠ½ΡΡΠ°ΡΡΡΡΠΊΡΡΡΠΈ, ΡΠΊΠΈΠΉ ΠΏΠ΅ΡΠ΅Π΄Π±Π°ΡΠ°Ρ ΡΡΠ°Ρ
ΡΠ²Π°Π½Π½Ρ Π²Π·Π°ΡΠΌΠΎΠ·Π²βΡΠ·ΠΊΡ ΠΌΡΠΆ ΠΎΡΠ½ΠΎΠ²Π½ΠΈΠΌΠΈ ΡΠΊΠ»Π°Π΄Π½ΠΈΠΊΠ°ΠΌΠΈ ΡΡ
ΡΡΠ½ΠΊΡΡΠΎΠ½ΡΠ²Π°Π½Π½Ρ β ΠΌΠ°ΡΠ΅ΡΡΠ°Π»ΡΠ½ΠΈΠΌΠΈ, Π΅Π½Π΅ΡΠ³Π΅ΡΠΈΡΠ½ΠΈΠΌΠΈ, ΡΠ½ΡΠΎΡΠΌΠ°ΡΡΠΉΠ½ΠΈΠΌΠΈ Ρ ΠΊΠ°Π΄ΡΠΎΠ²ΠΈΠΌΠΈ. ΠΠ»Ρ ΠΊΠΎΠΆΠ½ΠΎΠ³ΠΎ ΡΠΊΠ»Π°Π΄Π½ΠΈΠΊΠ° ΠΏΡΠΎΠΏΠΎΠ½ΡΡΡΡΡΡ ΡΠΈΡΡΠ΅ΠΌΠ½ΠΎ Π°Π½Π°Π»ΡΠ·ΡΠ²Π°ΡΠΈ ΡΠ° Π²ΠΊΠ»ΡΡΠ°ΡΠΈ Π΄ΠΎ ΡΠΊΠ»Π°Π΄Ρ ΡΠ½ΡΠΎΡΠΌΠ°ΡΡΠΉΠ½ΠΎΡ ΠΏΠ»Π°ΡΡΠΎΡΠΌΠΈ Ρ
Π°ΡΠ°ΠΊΡΠ΅ΡΠΈΡΡΠΈΠΊΠΈ ΠΎΠ±βΡΠΊΡΡΠ² Π·Π°Ρ
ΠΈΡΡΡ ΡΠ° ΠΌΠΎΠΆΠ»ΠΈΠ²Ρ Π·Π°Π³ΡΠΎΠ·ΠΈ ΡΠΈΠΌ ΡΠΊΠ»Π°Π΄Π½ΠΈΠΊΠ°ΠΌ ΡΡΠ½ΠΊΡΡΠΎΠ½ΡΠ²Π°Π½Π½Ρ ΠΎΠ±βΡΠΊΡΡΠ² Π·Π°Ρ
ΠΈΡΡΡ.Abstract. The work is devoted to the development of a model of information platform for project management of marine critical infrastructure protection as a theoretical basis for improving the efficiency of project planning in the early stages of development. The basis of the work is a systematic approach to the construction of a system of protection of marine critical infrastructure, which takes into account the relationship between the main components of their operation β material, energy, information and personnel. For each component, it is proposed to systematically analyse and include in the information platform the characteristics of the security objects and the possible threats to these components of the functioning of the security objects. It is also proposed to include in the information platform the methods of counteracting threats and the technologies for building systems for protection against these threats. A typical list of organizations participating in marine critical infrastructure protection projects and consumers of project information has been formed, which forms the basis for planning communications in such projects. The substantive part of the main information modules of the project for protection of marine critical infrastructure objects has been formed in the form of sets of information models of the system components of their functioning. Based on the operations on the sets, the work of the project manager on the planning of the work on the creation of the system of protection of the basic object of marine critical infrastructure is formalized. The structure and main components of the marine critical infrastructure protection project management information platform have been developed. The information platform contains information modules on the basic characteristics of the basics of marine critical infrastructure, threats and methods of counteracting them, as well as an information module on information about technologies for building security systems for such facilities. The resulting information platform forms an effective project manager toolkit and allows you to reduce time spent on the project planning stage. The practical task of developing the substantive parts of information platforms for managing the processes of developing the systems of protection of the underwater part of the offshore stationary platform and its waters has been solved
ΠΠΎΠ½ΡΠ΅ΠΏΡΡΡ ΡΠΈΡΡΠ΅ΠΌΠΈ Π·Π°Ρ ΠΈΡΡΡ ΡΠ½ΡΠΎΡΠΌΠ°ΡΡΡ, ΡΠΎ ΡΠΈΡΠΊΡΠ»ΡΡ Π½Π° ΠΎΠ±βΡΠΊΡΠ°Ρ ΠΌΠΎΡΡΡΠΊΠΎΡ ΡΠ½ΡΡΠ°ΡΡΡΡΠΊΡΡΡΠΈ
ΠΠ»ΡΠ½ΡΠΎΠ², Π. Π‘. ΠΠΎΠ½ΡΠ΅ΠΏΡΡΡ ΡΠΈΡΡΠ΅ΠΌΠΈ Π·Π°Ρ
ΠΈΡΡΡ ΡΠ½ΡΠΎΡΠΌΠ°ΡΡΡ, ΡΠΎ ΡΠΈΡΠΊΡΠ»ΡΡ Π½Π° ΠΎΠ±βΡΠΊΡΠ°Ρ
ΠΌΠΎΡΡΡΠΊΠΎΡ ΡΠ½ΡΡΠ°ΡΡΡΡΠΊΡΡΡΠΈ = Conception of system information protection that circulates on objects of marine infrastructure / Π. Π‘. ΠΠ»ΡΠ½ΡΠΎΠ², Π. Π. ΠΠ°ΠΉΠ΄Π°Π½ΡΠΊ // ΠΠ±. Π½Π°ΡΠΊ. ΠΏΡ. ΠΠ£Π. β ΠΠΈΠΊΠΎΠ»Π°ΡΠ² : ΠΠ£Π, 2016. β β 1 (463). β Π‘. 57β64.ΠΠ½ΠΎΡΠ°ΡΡΡ. Π ΠΎΠ±ΠΎΡΠ° ΠΌΡΡΡΠΈΡΡ ΡΠ΅Π·ΡΠ»ΡΡΠ°ΡΠΈ Π΄ΠΎΡΠ»ΡΠ΄ΠΆΠ΅Π½Ρ, ΡΠΏΡΡΠΌΠΎΠ²Π°Π½ΠΈΡ
Π½Π° ΡΠΎΠ·Π²ΠΈΡΠΎΠΊ ΡΠΈΡΡΠ΅ΠΌ Π·Π°Ρ
ΠΈΡΡΡ ΡΠ½ΡΠΎΡΠΌΠ°ΡΡΡ Π² ΡΠ΅Π»Π΅ΠΊΠΎΠΌΡΠ½ΡΠΊΠ°ΡΡΠΉΠ½ΠΈΡ
ΠΌΠ΅ΡΠ΅ΠΆΠ°Ρ
ΠΏΠ΅ΡΠ΅Π΄Π°ΡΡ Π΄Π°Π½ΠΈΡ
. ΠΠΈΠ·Π½Π°ΡΠ΅Π½ΠΎ ΠΎΡΠ½ΠΎΠ²Π½Ρ Π·Π°Π³ΡΠΎΠ·ΠΈ ΡΠ½ΡΠΎΡΠΌΠ°ΡΡΡ ΠΉ Π²ΠΈΠΌΠΎΠ³ΠΈ Π΄ΠΎ ΠΌΠ΅ΡΠΎΠ΄ΡΠ² Π·Π°Ρ
ΠΈΡΡΡ ΡΠ½ΡΠΎΡΠΌΠ°ΡΡΡ Π² ΡΠ΅Π»Π΅ΠΊΠΎΠΌΡΠ½ΡΠΊΠ°ΡΡΠΉΠ½Ρ ΠΌΠ΅ΡΠ΅ΠΆΡ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΡ ΠΎΠ±βΡΠΊΡΠ° Π΄Π°Π½ΠΈΡ
ΠΌΠΎΡΡΡΠΊΠΎΡ ΡΠ½ΡΡΠ°ΡΡΡΡΠΊΡΡΡΠΈ.Abstract. The paper contains the results of research aimed at developing information security systems for telecommunication networks of data transmission. The basic threats to the information have been determined, as well as requirements to the system protection, methods of providing confidentiality, integrity and availability of information circulating in telecommunication networks of data transmission on the marine infrastructure object. Realization of the functions of information protection is described by an association in the single system of the system safety, cryptographic and technical information protection, use of organizational, engineering and technological methods of information protection.ΠΠ½Π½ΠΎΡΠ°ΡΠΈΡ. Π Π°Π±ΠΎΡΠ° ΡΠΎΠ΄Π΅ΡΠΆΠΈΡ ΡΠ΅Π·ΡΠ»ΡΡΠ°ΡΡ ΠΈΡΡΠ»Π΅Π΄ΠΎΠ²Π°Π½ΠΈΠΉ, Π½Π°ΠΏΡΠ°Π²Π»Π΅Π½Π½ΡΡ
Π½Π° ΡΠ°Π·Π²ΠΈΡΠΈΠ΅ ΡΠΈΡΡΠ΅ΠΌ Π·Π°ΡΠΈΡΡ ΠΈΠ½ΡΠΎΡΠΌΠ°ΡΠΈΠΈ Π² ΡΠ΅Π»Π΅ΠΊΠΎΠΌΠΌΡΠ½ΠΈΠΊΠ°ΡΠΈΠΎΠ½Π½ΡΡ
ΡΠ΅ΡΡΡ
ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ Π΄Π°Π½Π½ΡΡ
. ΠΠΏΡΠ΅Π΄Π΅Π»Π΅Π½Ρ ΠΎΡΠ½ΠΎΠ²Π½ΡΠ΅ ΡΠ³ΡΠΎΠ·Ρ ΠΈΠ½ΡΠΎΡΠΌΠ°ΡΠΈΠΈ ΠΈ ΡΡΠ΅Π±ΠΎΠ²Π°Π½ΠΈΡ ΠΊ ΠΌΠ΅ΡΠΎΠ΄Π°ΠΌ Π·Π°ΡΠΈΡΡ ΠΈΠ½ΡΠΎΡΠΌΠ°ΡΠΈΠΈ Π² ΡΠ΅Π»Π΅ΠΊΠΎΠΌΠΌΡΠ½ΠΈΠΊΠ°ΡΠΈΠΎΠ½Π½ΡΠ΅ ΡΠ΅ΡΠΈ ΠΏΠ΅ΡΠ΅Π΄Π°ΡΠΈ Π΄Π°Π½Π½ΡΡ
ΠΎΠ±ΡΠ΅ΠΊΡΠ° ΠΌΠΎΡΡΠΊΠΎΠΉ ΠΈΠ½ΡΡΠ°ΡΡΡΡΠΊΡΡΡΡ
Π‘ΡΡΠ°ΡΠ½Ρ Π·Π°Π²Π΄Π°Π½Π½Ρ ΡΡΠ²ΠΎΡΠ΅Π½Π½Ρ Π±Π°Π³Π°ΡΠΎΡΡΠ»ΡΠΎΠ²ΠΎΠ³ΠΎ ΠΌΠΎΡΡΡΠΊΠΎΠ³ΠΎ Π±Π΅Π·ΠΏΡΠ»ΠΎΡΠ½ΠΎΠ³ΠΎ ΠΊΠΎΠΌΠΏΠ»Π΅ΠΊΡΡ
Π‘ΡΡΠ°ΡΠ½Ρ Π·Π°Π²Π΄Π°Π½Π½Ρ ΡΡΠ²ΠΎΡΠ΅Π½Π½Ρ Π±Π°Π³Π°ΡΠΎΡΡΠ»ΡΠΎΠ²ΠΎΠ³ΠΎ ΠΌΠΎΡΡΡΠΊΠΎΠ³ΠΎ Π±Π΅Π·ΠΏΡΠ»ΠΎΡΠ½ΠΎΠ³ΠΎ ΠΊΠΎΠΌΠΏΠ»Π΅ΠΊΡΡ = Current tasks of creating a multipurpose marine unmanned complex / Π. Π‘. ΠΠ»ΡΠ½ΡΠΎΠ², Π. Π. ΠΠΎΡΡΠ΅Π½ΠΊΠΎ, Π. Π. Π’ΡΠΈΠ±ΡΠ»ΡΠΊΠ΅Π²ΠΈΡ, Π. Π. Π‘ΠΎΠΊΠΎΠ»ΠΎΠ² // ΠΠ±. Π½Π°ΡΠΊ. ΠΏΡ. ΠΠ£Π. β ΠΠΈΠΊΠΎΠ»Π°ΡΠ² : ΠΠ£Π, 2017. β β 2 (469). β Π‘. 20β27.ΠΠ½ΠΎΡΠ°ΡΡΡ. Π ΠΎΠ·Π³Π»ΡΠ½ΡΡΠΎ ΠΌΠΎΠΆΠ»ΠΈΠ²ΠΎΡΡΡ Π²ΠΈΠΊΠΎΡΠΈΡΡΠ°Π½Π½Ρ Π±Π΅Π·Π΅ΠΊΡΠΏΠ°ΠΆΠ½ΠΈΡ
ΠΌΠΎΡΡΡΠΊΠΈΡ
ΡΠΈΡΡΠ΅ΠΌ ΡΠΊ ΡΠΊΠ»Π°Π΄ΠΎΠ²ΠΎΡ Π±Π°Π³Π°ΡΠΎΡΡΠ»ΡΠΎΠ²ΠΎΠ³ΠΎ ΠΌΠΎΡΡΡΠΊΠΎΠ³ΠΎ Π±Π΅Π·Π΅ΠΊΡΠΏΠ°ΠΆΠ½ΠΎΠ³ΠΎ ΠΊΠΎΠΌΠΏΠ»Π΅ΠΊΡΡ Π΄Π»Ρ Π²ΠΈΡΡΡΠ΅Π½Π½Ρ Π·Π°Π²Π΄Π°Π½Π½Ρ Π²ΠΈΡΠ²ΡΡΠ»Π΅Π½Π½Ρ ΠΏΡΠ΄Π²ΠΎΠ΄Π½ΠΎΡ, Π½Π°Π΄Π²ΠΎΠ΄Π½ΠΎΡ ΡΠ° ΠΏΠΎΠ²ΡΡΡΡΠ½ΠΎΡ ΠΎΠ±ΡΡΠ°Π½ΠΎΠ²ΠΊΠΈ Ρ Π²ΠΈΠΊΠ»ΡΡΠ½ΡΠΉ (ΠΌΠΎΡΡΡΠΊΡΠΉ) Π΅ΠΊΠΎΠ½ΠΎΠΌΡΡΠ½ΡΠΉ Π·ΠΎΠ½Ρ, ΡΠ΅ΡΠΈΡΠΎΡΡΠ°Π»ΡΠ½ΠΎΠΌΡ ΠΌΠΎΡΡ ΠΉ Π²Π½ΡΡΡΡΡΠ½ΡΡ
Π²ΠΎΠ΄Π°Ρ
Π£ΠΊΡΠ°ΡΠ½ΠΈ.Abstract. There have been considered the possibilities of using unmanned marine systems as a component of a multipurpose marine unmanned complex for solving the task of covering the situation underwater, at sea and in the air in the exclusive (marine) economic zone, the territorial sea and inland waters of Ukraine.ΠΠ½Π½ΠΎΡΠ°ΡΠΈΡ. Π Π°ΡΡΠΌΠΎΡΡΠ΅Π½Ρ Π²ΠΎΠ·ΠΌΠΎΠΆΠ½ΠΎΡΡΠΈ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π½ΠΈΡ Π±Π΅Π·ΡΠΊΠΈΠΏΠ°ΠΆΠ½ΡΡ
ΠΌΠΎΡΡΠΊΠΈΡ
ΡΠΈΡΡΠ΅ΠΌ ΠΊΠ°ΠΊ ΡΠΎΡΡΠ°Π²Π»ΡΡΡΠ΅ΠΉ ΠΌΠ½ΠΎΠ³ΠΎΡΠ΅Π»Π΅Π²ΠΎΠ³ΠΎ ΠΌΠΎΡΡΠΊΠΎΠ³ΠΎ Π±Π΅Π·ΡΠΊΠΈΠΏΠ°ΠΆΠ½ΠΎΠ³ΠΎ ΠΊΠΎΠΌΠΏΠ»Π΅ΠΊΡΠ° Π΄Π»Ρ ΡΠ΅ΡΠ΅Π½ΠΈΡ Π·Π°Π΄Π°Π½ΠΈΡ ΠΎΡΠ²Π΅ΡΠ΅Π½ΠΈΡ ΠΏΠΎΠ΄Π²ΠΎΠ΄Π½ΠΎΠΉ, Π½Π°Π΄Π²ΠΎΠ΄Π½ΠΎΠΉ ΠΈ Π²ΠΎΠ·Π΄ΡΡΠ½ΠΎΠΉ ΠΎΠ±ΡΡΠ°Π½ΠΎΠ²ΠΊΠΈ Π² ΠΈΡΠΊΠ»ΡΡΠΈΡΠ΅Π»ΡΠ½ΠΎΠΉ (ΠΌΠΎΡΡΠΊΠΎΠΉ) ΡΠΊΠΎΠ½ΠΎΠΌΠΈΡΠ΅ΡΠΊΠΎΠΉ Π·ΠΎΠ½Π΅, ΡΠ΅ΡΡΠΈΡΠΎΡΠΈΠ°Π»ΡΠ½ΠΎΠΌ ΠΌΠΎΡΠ΅ ΠΈ Π²Π½ΡΡΡΠ΅Π½Π½ΠΈΡ
Π²ΠΎΠ΄Π°Ρ
Π£ΠΊΡΠ°ΠΈΠ½Ρ
Π‘ΠΏΠ΅ΡΡΠ°Π»ΡΠ·ΠΎΠ²Π°Π½ΠΈΠΉ ΠΌΠΎΠ΄Π΅Π»ΡΡΡΠΈΠΉ ΠΊΠΎΠΌΠΏΠ»Π΅ΠΊΡ Π΄Π»Ρ Π΄ΠΎΡΠ»ΡΠ΄ΠΆΠ΅Π½Π½Ρ Π΄ΠΈΠ½Π°ΠΌΡΠΊΠΈ ΡΡΡ Ρ ΠΏΡΠ΄Π²ΠΎΠ΄Π½ΠΎΡ Π±ΡΠΊΡΠΈΡΡΠ²Π°Π½ΠΎΡ ΡΠΈΡΡΠ΅ΠΌΠΈ
There is developed a specialized simulating complex for computer-aided study of the efficiency of automatic control systems for the underwater towed system Β«carrier ship β tether winch β tether β towed underwater vehicleΒ». The complex includes mathematical models of the dynamics of a marine moving object, flexible connection and tether winch. The former is used to simulate the spatial motion dynamics of a towing vessel and a towed underwater vehicle as solid bodies in a water flow. Tether simulation employs a method of simulating a flexible connection with automatic control of the axial motion of its elements, which makes it possible to account for the dynamics of the change in the length of its released part. The model of the tether winch dynamics provides simulation of the tether release and gathering. The simulation complex enables studying the spatial motion of a towed underwater vehicle in the water column in relation to the towing vessel as a control object at the dynamic change of the length of the released part of the tether.Π Π°Π·ΡΠ°Π±ΠΎΡΠ°Π½ ΡΠΏΠ΅ΡΠΈΠ°Π»ΠΈΠ·ΠΈΡΠΎΠ²Π°Π½Π½ΡΠΉ ΠΌΠΎΠ΄Π΅Π»ΠΈΡΡΡΡΠΈΠΉ ΠΊΠΎΠΌΠΏΠ»Π΅ΠΊΡ Π΄Π»Ρ ΠΊΠΎΠΌΠΏΡΡΡΠ΅ΡΠ½ΠΎΠ³ΠΎ ΠΈΡΡΠ»Π΅Π΄ΠΎΠ²Π°Π½ΠΈΡ ΡΡΡΠ΅ΠΊΡΠΈΠ²Π½ΠΎΡΡΠΈ ΡΠΈΡΡΠ΅ΠΌ Π°Π²ΡΠΎΠΌΠ°ΡΠΈΡΠ΅ΡΠΊΠΎΠ³ΠΎ ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ ΠΏΠΎΠ΄Π²ΠΎΠ΄Π½ΠΎΠΉ Π±ΡΠΊΡΠΈΡΡΠ΅ΠΌΠΎΠΉ ΡΠΈΡΡΠ΅ΠΌΠΎΠΉ Π² ΡΠΎΡΡΠ°Π²Π΅ Β«ΡΡΠ΄Π½ΠΎ-Π½ΠΎΡΠΈΡΠ΅Π»Ρ β ΠΊΠ°Π±Π΅Π»ΡΠ½Π°Ρ Π»Π΅Π±Π΅Π΄ΠΊΠ° β ΠΊΠ°Π±Π΅Π»Ρ-Π±ΡΠΊΡΠΈΡ β Π±ΡΠΊΡΠΈΡΡΠ΅ΠΌΡΠΉ ΠΏΠΎΠ΄Π²ΠΎΠ΄Π½ΡΠΉ Π°ΠΏΠΏΠ°ΡΠ°ΡΒ». ΠΠΎΠ΄Π΅Π»ΠΈΡΡΡΡΠΈΠΉ ΠΊΠΎΠΌΠΏΠ»Π΅ΠΊΡ ΠΏΠΎΠ·Π²ΠΎΠ»ΡΠ΅Ρ ΠΈΡΡΠ»Π΅Π΄ΠΎΠ²Π°ΡΡ ΠΏΡΠΎΡΡΡΠ°Π½ΡΡΠ²Π΅Π½Π½ΠΎΠ΅ Π΄Π²ΠΈΠΆΠ΅Π½ΠΈΠ΅ Π² Π²ΠΎΠ΄Π½ΠΎΠΉ ΡΠΎΠ»ΡΠ΅ Π±ΡΠΊΡΠΈΡΡΠ΅ΠΌΠΎΠ³ΠΎ ΠΏΠΎΠ΄Π²ΠΎΠ΄Π½ΠΎΠ³ΠΎ Π°ΠΏΠΏΠ°ΡΠ°ΡΠ° ΠΎΡΠ½ΠΎΡΠΈΡΠ΅Π»ΡΠ½ΠΎ ΡΡΠ΄Π½Π°-Π±ΡΠΊΡΠΈΡΠΎΠ²ΡΠΈΠΊΠ° ΠΊΠ°ΠΊ ΠΎΠ±ΡΠ΅ΠΊΡΠ° ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ ΠΏΡΠΈ Π΄ΠΈΠ½Π°ΠΌΠΈΡΠ΅ΡΠΊΠΎΠΌ ΠΈΠ·ΠΌΠ΅Π½Π΅Π½ΠΈΠΈ Π΄Π»ΠΈΠ½Ρ Π²ΡΠΏΡΡΠ΅Π½Π½ΠΎΠΉ ΡΠ°ΡΡΠΈ ΠΊΠ°Π±Π΅Π»Ρ-Π±ΡΠΊΡΠΈΡΠ°.Π ΠΎΠ·ΡΠΎΠ±Π»Π΅Π½ΠΎ ΡΠΏΠ΅ΡΡΠ°Π»ΡΠ·ΠΎΠ²Π°Π½ΠΈΠΉ ΠΌΠΎΠ΄Π΅Π»ΡΡΡΠΈΠΉ ΠΊΠΎΠΌΠΏΠ»Π΅ΠΊΡ Π΄Π»Ρ ΠΊΠΎΠΌΠΏβΡΡΠ΅ΡΠ½ΠΎΠ³ΠΎ Π΄ΠΎΡΠ»ΡΠ΄ΠΆΠ΅Π½Π½Ρ Π΅ΡΠ΅ΠΊΡΠΈΠ²Π½ΠΎΡΡΡ ΡΠΈΡΡΠ΅ΠΌ Π°Π²ΡΠΎΠΌΠ°ΡΠΈΡΠ½ΠΎΠ³ΠΎ ΠΊΠ΅ΡΡΠ²Π°Π½Π½Ρ ΠΏΡΠ΄Π²ΠΎΠ΄Π½ΠΎΡ Π±ΡΠΊΡΠΈΡΡΠ²Π°Π½ΠΎΡ ΡΠΈΡΡΠ΅ΠΌΠΎΡ Ρ ΡΠΊΠ»Π°Π΄Ρ Β«ΡΡΠ΄Π½ΠΎ-Π½ΠΎΡΡΠΉ β ΠΊΠ°Π±Π΅Π»ΡΠ½Π° Π»Π΅Π±ΡΠ΄ΠΊΠ° β ΠΊΠ°Π±Π΅Π»Ρ-Π±ΡΠΊΡΠΈΡ β Π±ΡΠΊΡΠΈΡΡΠ²Π°Π½ΠΈΠΉ ΠΏΡΠ΄Π²ΠΎΠ΄Π½ΠΈΠΉ Π°ΠΏΠ°ΡΠ°ΡΒ». ΠΠΎΠ΄Π΅Π»ΡΡΡΠΈΠΉ ΠΊΠΎΠΌΠΏΠ»Π΅ΠΊΡ Π΄Π°Ρ Π·ΠΌΠΎΠ³Ρ Π΄ΠΎΡΠ»ΡΠ΄ΠΆΡΠ²Π°ΡΠΈ ΠΏΡΠΎΡΡΠΎΡΠΎΠ²ΠΈΠΉ ΡΡΡ
Ρ Π²ΠΎΠ΄Π½ΡΠΉ ΡΠΎΠ²ΡΡ Π±ΡΠΊΡΠΈΡΡΠ²Π°Π½ΠΎΠ³ΠΎ ΠΏΡΠ΄Π²ΠΎΠ΄Π½ΠΎΠ³ΠΎ Π°ΠΏΠ°ΡΠ°ΡΠ° Π²ΡΠ΄Π½ΠΎΡΠ½ΠΎ ΡΡΠ΄Π½Π°-Π±ΡΠΊΡΠΈΡΡΠ²Π°Π»ΡΠ½ΠΈΠΊΠ° ΡΠΊ ΠΎΠ±βΡΠΊΡΠ° ΠΊΠ΅ΡΡΠ²Π°Π½Π½Ρ ΠΏΡΠΈ Π΄ΠΈΠ½Π°ΠΌΡΡΠ½ΡΠΉ Π·ΠΌΡΠ½Ρ Π΄ΠΎΠ²ΠΆΠΈΠ½ΠΈ Π²ΠΈΠΏΡΡΠ΅Π½ΠΎΡ ΡΠ°ΡΡΠΈΠ½ΠΈ ΠΊΠ°Π±Π΅Π»Ρ-Π±ΡΠΊΡΠΈΡΠ°
ΠΠ°ΡΠΊΠΎΠ²Ρ Π·Π°Π΄Π°ΡΡ ΡΠΏΡΠ°Π²Π»ΡΠ½Π½Ρ ΠΏΡΠΎΠ΅ΠΊΡΠ°ΠΌΠΈ Π³Π»ΠΈΠ±ΠΎΠΊΠΎΠ²ΠΎΠ΄Π½ΠΈΡ Π°ΡΡ Π΅ΠΎΠ»ΠΎΠ³ΡΡΠ½ΠΈΡ Π΄ΠΎΡΠ»ΡΠ΄ΠΆΠ΅Π½Ρ
The scientific task of projects management improvement of deep-water Black Sea archeological studies is formulated. The role of the latest diving robotized underwater technologies is shown for deep-sea archeological exploring, deep-sea archeological research planning and fulfillment.Π‘ΡΠΎΡΠΌΡΠ»ΠΈΡΠΎΠ²Π°Π½Π° Π½Π°ΡΡΠ½Π°Ρ Π·Π°Π΄Π°ΡΠ° ΡΡΠΎΠ²Π΅ΡΡΠ΅Π½ΡΡΠ²ΠΎΠ²Π°Π½ΠΈΡ ΡΠΏΡΠ°Π²Π»Π΅Π½ΠΈΡ ΠΏΡΠΎΠ΅ΠΊΡΠ°ΠΌΠΈ Π³Π»ΡΠ±ΠΎΠΊΠΎΠ²ΠΎΠ΄Π½ΡΡ
Π°ΡΡ
Π΅ΠΎΠ»ΠΎΠ³ΠΈΡΠ΅ΡΠΊΠΈΡ
ΠΈΡΡΠ»Π΅Π΄ΠΎΠ²Π°Π½ΠΈΠΉ Π½Π° Π§Π΅ΡΠ½ΠΎΠΌ ΠΌΠΎΡΠ΅. ΠΠΎΠΊΠ°Π·Π°Π½Π° ΡΠΎΠ»Ρ Π½ΠΎΠ²Π΅ΠΉΡΠΈΡ
Π²ΠΎΠ΄ΠΎΠ»Π°Π·Π½ΡΡ
ΠΈ ΡΠΎΠ±ΠΎΡΠΈΠ·ΠΎΠ²Π°Π½Π½ΡΡ
ΠΏΠΎΠ΄Π²ΠΎΠ΄Π½ΡΡ
ΡΠ΅Ρ
Π½ΠΎΠ»ΠΎΠ³ΠΈΠΉ Π² Π³Π»ΡΠ±ΠΎΠΊΠΎΠ²ΠΎΠ΄Π½ΠΎΠΉ Π°ΡΡ
Π΅ΠΎΠ»ΠΎΠ³ΠΈΡΠ΅ΡΠΊΠΎΠΉ ΡΠ°Π·Π²Π΅Π΄ΠΊΠ΅, ΠΏΠ»Π°Π½ΠΈΡΠΎΠ²Π°Π½ΠΈΠΈ ΠΈ Π²ΡΠΏΠΎΠ»Π½Π΅Π½ΠΈΠΈ Π³Π»ΡΠ±ΠΎΠΊΠΎΠ²ΠΎΠ΄Π½ΡΡ
Π°ΡΡ
Π΅ΠΎΠ»ΠΎΠ³ΠΈΡΠ΅ΡΠΊΠΈΡ
ΠΈΡΡΠ»Π΅Π΄ΠΎΠ²Π°Π½ΠΈΠΉ.Π‘ΡΠΎΡΠΌΡΠ»ΡΠΎΠ²Π°Π½Π° Π½Π°ΡΠΊΠΎΠ²Π° Π·Π°Π΄Π°ΡΠ° Π²Π΄ΠΎΡΠΊΠΎΠ½Π°Π»Π΅Π½Π½Ρ ΡΠΏΡΠ°Π²Π»ΡΠ½Π½Ρ ΠΏΡΠΎΠ΅ΠΊΡΠ°ΠΌΠΈ Π³Π»ΠΈΠ±ΠΎΠΊΠΎΠ²ΠΎΠ΄Π½ΠΈΡ
Π°ΡΡ
Π΅ΠΎΠ»ΠΎΠ³ΡΡΠ½ΠΈΡ
Π΄ΠΎΡΠ»ΡΠ΄ΠΆΠ΅Π½Ρ Π½Π° Π§ΠΎΡΠ½ΠΎΠΌΡ ΠΌΠΎΡΡ. ΠΠΎΠΊΠ°Π·Π°Π½Π° ΡΠΎΠ»Ρ Π½ΠΎΠ²ΡΡΠ½ΡΡ
Π²ΠΎΠ΄ΠΎΠ»Π°Π·Π½ΠΈΡ
ΡΠ° ΡΠΎΠ±ΠΎΡΠΈΠ·ΠΎΠ²Π°Π½ΠΈΡ
ΠΏΡΠ΄Π²ΠΎΠ΄Π½ΠΈΡ
ΡΠ΅Ρ
Π½ΠΎΠ»ΠΎΠ³ΡΠΉ Ρ Π³Π»ΠΈΠ±ΠΎΠΊΠΎΠ²ΠΎΠ΄Π½ΡΠΉ Π°ΡΡ
Π΅ΠΎΠ»ΠΎΠ³ΡΡΠ½ΡΠΉ ΡΠΎΠ·Π²ΡΠ΄ΡΡ, ΠΏΠ»Π°Π½ΡΠ²Π°Π½Π½Ρ ΠΉ Π²ΠΈΠΊΠΎΠ½Π°Π½Π½Ρ Π³Π»ΠΈΠ±ΠΎΠΊΠΎΠ²ΠΎΠ΄Π½ΠΈΡ
Π°ΡΡ
Π΅ΠΎΠ»ΠΎΠ³ΡΡΠ½ΠΈΡ
Π΄ΠΎΡΠ»ΡΠ΄ΠΆΠ΅Π½Ρ
ΠΠΎΠ½ΡΠ΅ΠΏΡΡΡ ΡΡΠ²ΠΎΡΠ΅Π½Π½Ρ Π°Π²ΡΠΎΠ½ΠΎΠΌΠ½ΠΈΡ Π½Π΅Π½Π°ΡΠ΅Π»Π΅Π½ΠΈΡ ΠΏΡΠ΄Π²ΠΎΠ΄Π½ΠΈΡ Π°ΠΏΠ°ΡΠ°ΡΡΠ² Π΄Π»Ρ Π²ΡΠΉΡΡΠΊΠΎΠ²ΠΎ-ΠΌΠΎΡΡΡΠΊΠΈΡ ΡΠΈΠ» Π΄Π΅ΡΠΆΠ°Π²ΠΈ
The concept of designing of autonomous unmanned underwater vehicles which considers systematically the requirements to underwater mission, technology, operation, operational characteristics, architectural and construction type and performance characteristics of vehicles has been developed. This concept is based on the needs analysis of the Navy Force of State in unmanned maritime systems.ΠΠ° ΠΎΡΠ½ΠΎΠ²Π΅ Π°Π½Π°Π»ΠΈΠ·Π° Π½ΡΠΆΠ΄ ΠΠΎΠ΅Π½Π½ΠΎ-ΠΌΠΎΡΡΠΊΠΈΡ
ΡΠΈΠ» Π³ΠΎΡΡΠ΄Π°ΡΡΡΠ²Π° Π² Π±Π΅Π·ΡΠΊΠΈΠΏΠ°ΠΆΠ½ΡΡ
ΠΌΠΎΡΡΠΊΠΈΡ
ΡΠΈΡΡΠ΅ΠΌΠ°Ρ
ΡΠ°Π·ΡΠ°Π±ΠΎΡΠ°Π½Π° ΠΊΠΎΠ½ΡΠ΅ΠΏΡΠΈΡ ΠΏΡΠΎΠ΅ΠΊΡΠΈΡΠΎΠ²Π°Π½ΠΈΡ Π°Π²ΡΠΎΠ½ΠΎΠΌΠ½ΡΡ
Π½Π΅ΠΎΠ±ΠΈΡΠ°Π΅ΠΌΡΡ
ΠΏΠΎΠ΄Π²ΠΎΠ΄Π½ΡΡ
Π°ΠΏΠΏΠ°ΡΠ°ΡΠΎΠ², ΠΊΠΎΡΠΎΡΠ°Ρ ΡΠΈΡΡΠ΅ΠΌΠ½ΠΎ ΡΡΠΈΡΡΠ²Π°Π΅Ρ ΡΡΠ΅Π±ΠΎΠ²Π°Π½ΠΈΡ ΠΊ ΠΏΠΎΠ΄Π²ΠΎΠ΄Π½ΠΎΠΉ ΠΌΠΈΡΡΠΈΠΈ, ΠΏΠΎΠ΄Π²ΠΎΠ΄Π½ΠΎΠΉ ΡΠ΅Ρ
Π½ΠΎΠ»ΠΎΠ³ΠΈΠΈ, ΠΏΠΎΠ΄Π²ΠΎΠ΄Π½ΠΎΠΉ ΡΠ°Π±ΠΎΡΠ΅, ΡΠΊΡΠΏΠ»ΡΠ°ΡΠ°ΡΠΈΠΎΠ½Π½ΡΠΌ ΡΠ²ΠΎΠΉΡΡΠ²Π°ΠΌ, Π°ΡΡ
ΠΈΡΠ΅ΠΊΡΡΡΠ½ΠΎ-ΠΊΠΎΠ½ΡΡΡΡΠΊΡΠΈΠ²Π½ΠΎΠΌΡ ΡΠΈΠΏΡ ΠΈ ΡΠ°ΠΊΡΠΈΠΊΠΎ-ΡΠ΅Ρ
Π½ΠΈΡΠ΅ΡΠΊΠΈΠΌ Ρ
Π°ΡΠ°ΠΊΡΠ΅ΡΠΈΡΡΠΈΠΊΠ°ΠΌ Π°ΠΏΠΏΠ°ΡΠ°ΡΠΎΠ².ΠΠ° ΠΎΡΠ½ΠΎΠ²Ρ Π°Π½Π°Π»ΡΠ·Ρ ΠΏΠΎΡΡΠ΅Π± ΠΡΠΉΡΡΠΊΠΎΠ²ΠΎ-ΠΌΠΎΡΡΡΠΊΠΈΡ
ΡΠΈΠ» Π΄Π΅ΡΠΆΠ°Π²ΠΈ Ρ Π±Π΅Π·Π΅ΠΊΡΠΏΠ°ΠΆΠ½ΠΈΡ
ΠΌΠΎΡΡΡΠΊΠΈΡ
ΡΠΈΡΡΠ΅ΠΌΠ°Ρ
ΡΠΎΠ·ΡΠΎΠ±Π»Π΅Π½ΠΎ ΠΊΠΎΠ½ΡΠ΅ΠΏΡΡΡ ΠΏΡΠΎΠ΅ΠΊΡΡΠ²Π°Π½Π½Ρ Π°Π²ΡΠΎΠ½ΠΎΠΌΠ½ΠΈΡ
Π½Π΅Π½Π°ΡΠ΅Π»Π΅Π½ΠΈΡ
ΠΏΡΠ΄Π²ΠΎΠ΄Π½ΠΈΡ
Π°ΠΏΠ°ΡΠ°ΡΡΠ², ΡΠΊΠ° ΡΠΈΡΡΠ΅ΠΌΠ½ΠΎ Π²ΡΠ°Ρ
ΠΎΠ²ΡΡ Π²ΠΈΠΌΠΎΠ³ΠΈ Π΄ΠΎ ΠΏΡΠ΄Π²ΠΎΠ΄Π½ΠΎΡ ΠΌΡΡΡΡ, ΠΏΡΠ΄Π²ΠΎΠ΄Π½ΠΎΡ ΡΠ΅Ρ
Π½ΠΎΠ»ΠΎΠ³ΡΡ, ΠΏΡΠ΄Π²ΠΎΠ΄Π½ΠΎΡ ΡΠΎΠ±ΠΎΡΠΈ, Π΅ΠΊΡΠΏΠ»ΡΠ°ΡΠ°ΡΡΠΉΠ½ΠΈΡ
Π²Π»Π°ΡΡΠΈΠ²ΠΎΡΡΠ΅ΠΉ, Π°ΡΡ
ΡΡΠ΅ΠΊΡΡΡΠ½ΠΎ-ΠΊΠΎΠ½ΡΡΡΡΠΊΡΠΈΠ²Π½ΠΎΠ³ΠΎ ΡΠΈΠΏΡ Ρ ΡΠ°ΠΊΡΠΈΠΊΠΎ-ΡΠ΅Ρ
Π½ΡΡΠ½ΠΈΡ
Ρ
Π°ΡΠ°ΠΊΡΠ΅ΡΠΈΡΡΠΈΠΊ Π°ΠΏΠ°ΡΠ°ΡΡΠ²
Mathematical Modeling of Autonomous Underwater Vehicle Propulsion and Steering Complex Operation in Oblique (Beveled) Water Flow
The research of nonlinear hydrodynamic characteristics of the propulsion and steering complex (PSC), which influence the accuracy of the plane trajectory motion of an autonomous underwater vehicle (AUV), is carried out. During the underwater vehicle curvilinear motion, its PSC operates in an oblique incident water flow. This leads to a decrease in the PSC thrust force and negatively affects the controlled trajectory motion of the underwater vehicle. The research was conducted for a specific type of AUV for the plane curvilinear motion mode.The mathematical modeling method was chosen as the research method. To this end, the well-known AUV motion mathematical model is supplemented by the control system that simulates (mimics) its trajectory motion. The developed model consists of four main units: an AUV improved model; the vehicle speed setting unit; the nozzle rotation angle control unit; the unit containing the AUV pre-prepared motion trajectories.The research results of the AUV hydrodynamic parameters for several typical trajectories of its motion are presented. The investigated parameters include the following: the required nozzle rotation angle; the vehicle actual motion trajectory; the vehicle velocity; the propeller shaft moment; the propeller thrust force.As a result of the conducted researches, the dependence diagram of the propeller thrust force on the AUV nozzle rotation angle in the speed range from 0.2 m/s to 1 m/s and during the nozzle rotation in the range of up to 35Β° was constructed. A three-dimensional matrix, which describes the dependence of the propeller thrust force on the incident water flow angle and velocity of the vehicle, was created. The obtained dependence can be used in the synthesis of automatic control systems regulators of AUV plane manoeuvering (shunting) motion of increased accuracy