РОЗРОБКА АЛГОРИТМУ ЗАГАЛЬНОЇ СТРАТЕГІЇ АВТОМАТИЗАЦІЇ ВИБОРУ КУРСУ УХИЛЕННЯ СУДНА

During ships maneuvering, the main cause of accidents is that navigators do not always objectively assess the situation and may make wrong decisions on the identification situation of a dangerous approach and a collision hazard. The automation of the deviation course choice is considered as the automation avoidance process. Purpose. The article highlights the tasks of formalizing the deviation course as a value of automatic control, and proposes the development of an algorithm for the strategy of changing the course. Methodology. Conducted processing of practical data of own vessel. The existing models of the ship's movement were analyzes, as well as the systems for the automatic stabilization of the ship. To construct the algorithm, the COLREGs–72 was decomposed with respect to the belonging of the initial situation of the vessels to one of the areas of mutual obligations. Findings. According to the results of the given theme, an algorithm of the general strategy of choosing the course of evasion of the vessel was developed, considering the requirements of COLREG–72 rules. It were considered the types of control of automatic regulators and their limitations at the initial and final moments of the ship's turn. It was found out. It is necessary to create a multilevel mathematical description, which will include subsystems of different levels, to build a model of an integrated control system. Originality. It was determined the efficiency of using the principle of execution of ship’s turns by the method of observation with a given influence by analyzing the existing models of ship’s movement. It was offered to use the range of acceptable values of courses during the development of the model of automation ship avoidance process. Practical value. An algorithm for the general strategy of automation of the avoidance course selection was developed.

A New Payload Swing Angle Sensing Device and Its Accuracy

Measuring the swing angle of a crane load is a relatively well-known but unsatisfactorily solved problem in technical practice. This measurement is necessary for the automatic stabilization of load swing without human intervention. This article describes a technically simple and new approach to solving this problem. The focus of this work is to determine the accuracy of the measuring device. The focus of this work remains on the design, the principle of operation of the equipment, and the determination of accuracy. The basic idea is to apply the strain gauge on an elastic, easily deformable component that is part of the device. One part of the elastic component is fixedly connected to the frame; the other part is connected to the crane rope by means of pulleys close to the rope. In this way, the bending of the elastic component in proportion to the swing angle of the payload is ensured.

MECHATRONIC TECHNOLOGICAL SYSTEM INFORMATION SUPPORT

The article focuses on a new way to solve the problem of cutting processing due to the appearance of a wide range of super hard and hard-to-machine structural materials for aircraft, automobile, ship and engine construction, as well as for spacecraft, medi cine (orthopedics, dentistry), nuclear and military equipment. Such materials have an organized regular structure, high strength, super hardness. As a result, there is a problem of defect-free machining of these materials without damaging their balanced structure. The article describes a new approach and formulates innovative principles for creating a new class of mechatronic technological systems for precision machining of parts made of these materials using the example of drilling small diameter deep holes. The core of the mechatronic technological system is a mechatronic parametric stabilizer of the power load on the cutting tool. The mechatronic tech nological system provides a program task, automatic stabilization and maintenance in the tracking mode of the power load on the cutting tool with “disturbance control”. For example, in the technological cycle of drilling small diameter holes, such a system pro tects the drill bits from breakage. An integrated technological system is proposed with the following three levels of control: intelli gent (upper), adaptive (middle) and robust (lower). The basis of the multi-level system is a high-speed robust automatic control sys tem “by the disturbance”. The disturbance is the load torque, which is either automatically stabilized, or tracked when setting a pro gram from a computer, or changes according to the program that sets the mechatronic technological system the functioning (opera tion) algorithm. This algorithm can vary widely with different methods of machining parts by cutting (grinding), including shaping free 3D surfaces according to their digital models. The mechatronic technological system proposed is easily integrated into the cut ting (grinding) system of CNC machines, expanding their capabilities by transferring the standard control program of the CNC to a higher level of the control hierarchy. This allows machining any complex-shaped parts, including “double curvature” parts, namely impellers, turbine blades, rowing screws, etc.

Railway crane platform stabilization system

When operating a railway crane in curved sections of the track, derailment of wheelsets of the crane bogies from the rail track when it is displaced during hanging on the outriggers, wheelset of the bogie missing the rail track after the work has been completed or the crane has been down from the outriggers, which significantly affects performance of loading and unloading operations. One of the reasons for the occurrence of such dangerous situations is the not strictly horizontal position of the non-rotating platform of the railway crane.Railway cranes are part of recovery trains designed to eliminate the consequences of rolling stock derailments. A priority for recovery trains is to reduce the time it takes to eliminate the consequences of traffic accidents, which can be achieved through the use of new or improved devices or methods.The article describes a system of automatic stabilization (leveling) of the platform of a railway crane (for example, EDK 500/1 crane type) when it moves in curved sections of the track (the motion of a railway crane at relatively low speeds (up to 50 km/h) is considered).In order to study the modernized technical system (a crane equipped with an automatic platform stabilization system), its mathematical simulation is carried out. At the initial stage, a solidstate digital model of a railway crane in combination with a section of a railway track is created in the SolidWorks computer-aided design system; developed solid model is translated into the Sim- Mechanics MATLAB environment. Further, in order to improve the adequacy of modeling, the developed dynamic model is being finalized by integrating MATLAB program libraries (SimMechanics, SimHydraulics, Fuzzy Logic Toolbox, etc.) to take into account the interaction of elements of different physical nature. Results of modeling modernized technical system are presented, which confirm the advisability of using the stabilization system on railway cranes when passing curved track sections.

Identification of signals as one of the stages of synthesis of the system of automatic stabilization of the height of the fluidized bed in the grain dryer

Drying is one of the most responsible and energy-intensive post-harvest grain pro-cessing operations. The constant rise in heat prices has led to the search for new designs of grain dryers, or improvements to existing ones. Studies of well-known scientists such as Romankov, Rezchikov, Rashkovskaya have proven the potential effectiveness of using a fluid-ized bed for drying grain.The degree to which this drying efficiency approaches the potential is determined by how much the change in the actual humidity of the material during drying approaches the theoretical drying curve at the same resource consumption and the same initial state of the material to be dried.The study of the designs of fluidized bed grain dryers showed that they show irregular fluctuations in the height of the fluidized bed, and, accordingly, the efficiency of energy use for drying. The reason for this phenomenon is related, on the one hand, to random fluctua-tions in the amount of grain in the fluidized bed, and on the other - to the shortcomings of the system of automatic stabilization of its height.Taking into account the provisions of the theory of optimal control indicates that max-imizing the accuracy of stabilization of a given value of the height of the fluidized bed should be achieved by developing an optimal multidimensional stabilization system of the specified height. The basis for solving the first of these is the study of the design of a fluidized bed grain dryer.The decomposition of the grain dryer allows to present it in the form of a set of multidimensional objects with pure delay. The size of this set is determined by the number of cascades, and the dynamic characteristics of its elements depend on the distance of the cascade to the gate.The degree of connections between input-output signals in the form of correlation and cross-correlation functions was studied, and the physical processes occurring in the grain dryer were analyzed. As a result of applying the Blackman-Tukey algorithm to the implemen-tations of the components of the control signal vectors and output signals, estimates of the corresponding correlation functions and spectral densities for all elements of the set of con-trol objects were obtained. The discrete Fourier transform of smoothed estimates of correla-tion and cross-correlation functions allowed us to calculate estimates of the spectral and mutual spectral densities of the respective signals. Approximation of spectral and mutual spectral density estimates by the method of generalized logarithmic frequency characteristics allowed to determine the mathematical description of these signals in the form of spectral density expressions, which will be the basis for the next stage of object identification.

Design and implementation of underwater search for salvage robot power system

Most of the underwater salvage operations work in shallow waters. The underwater environment is complex and varied. There are many risks and unpredictable conditions such as turbulence, eddies, wind, waves and deep water pressure. The motion and control cause serious interference, and the flexibility of automatic stabilization and multi-dimensional motion under external disturbances is increasingly becoming a key element in the design process of underwater robots. In this paper, the structure, driving and control design of an underwater dynamic search and underwater robot based on 6-DOF driving is proposed, and its dynamics and control system are analyzed. Different from the traditional underwater robot technology, the method proposed in this paper is more suitable for shallow water area and multi DOF driving control technology. The driving structure and electronic device of the robot are introduced. Several experiments were carried out in the controlled environment. The experimental results demonstrate the correctness and effectiveness of the design and analysis.

DEPENDENCE OF THE GENERATED POWER ON THE OPERATING MODES OF THE WIND ELECTRIC GENERATOR AS PART OF THE MULTIFUNCTIONAL ENERGY COMPLEX

The wind energy utilization factor (Betz-Zhukovsky criterion) depends on the loss of wind speed when it passes through the plane of the wind wheel. The power generated by the wind turbine differs from the power developed by the wind wheel by the amount of losses when converting the recovered wind energy into useful energy. The choice of wind turbine power is determined by the electrical load of electrical consumers that are used in the facility under consideration. It should be borne in mind that they almost never turn on at the same time. Therefore, the calculation is carried out according to the average indicators of power consumption. The work involves the operation of wind turbines without limiting the carrying capacity. A similar system is used when a wind turbine is operating in the network or in the presence of technical devices for exceeding the power. The revealed effect of automatic stabilization of the electromechanical system in the optimal mode is undoubtedly one of the important advantages of the WPP concept. The simulation results can be used to optimize the control of wind turbines in cluster mode.

Public investment and inclusive growth in Africa

PurposeThe increasing debate on the viability of broad-based productive employment in stimulating the participatory tendencies of growth makes it instructive to inquire how the African “Big Five” have fared in their quests to ensure growth inclusiveness through public investment-led fiscal policy.Design/methodology/approachTime varying structures and nonlinearities in the government investment series are captured through the non-linear autoregressive distributed lag, asymmetric impulse responses and variance decomposition estimation techniques.FindingsStudy findings show that positive investment shocks stimulate growth inclusiveness by enabling access to opportunities through job creation and productive employment for the populace; this result is evident for Morocco and Algeria. However, there is a non-negligible evidence that shocks due to decline in the government investment manifest in insufficient capital stocks and limited investment opportunities, impede access to opportunities by the populace, hinder labour employability and make growth less inclusive. Furthermore, all short-run findings corroborate long-run results regarding the reaction of inclusive growth to positive investment shocks with the exclusion of South Africa; which, unlike its long-run finding, shows that shocks due to increases in investment can foster growth inclusiveness. Also, in respect to short-run negative investment shocks, Nigeria is the only country that does not align its long-run findings.Practical implicationsThat public investment shocks make or mar inclusive growth effectiveness shows the need for appropriate fiscal policy consolidation and automatic stabilization guidelines to ensure buffers against shocks and to enhance government investment generation efficiency for a sustainable inclusive growth process that is more participatory in Africa.Originality/valueThis study is the first to accommodate possibilities of shocks in the inclusivity of growth analysis for the five biggest African economies which jointly account for over half of the recorded growth in the continent. As such, there is quantitative evidence that government investment is a potent determinant of growth inclusiveness and it is susceptible to structural changes and time variation of shocks.