Вестник МГТУ. 2018, №4.

Пашенцев С. В. Управление процессом буксировки танкера... S. V . Pashentsev Managing the process o f tanker tow ing by regulating the cable tension Automatic control o f the towing process is carried out through the impact o f a controlled parameter on it - the cable tension which varies depending on the kinematic parameters o f the vessel's motion. As a source of formation o f the control signal, one can choose various kinematic characteristics o f the towed vessel movement: the angle o f deviation o f the towing cable from the center line (DP); the drift angle; the angular speed o f rotation o f the vessel while towing. In the course o f the study, an evidence-based choice o f a specific control characteristic has been made. With the help o f this characteristic (and its derivative if necessary), the control law is determined eliminating stable or developing self-oscillations under the action o f initial perturbations. In accordance with this law, technically sound design solutions are selected from the existing patent base to help improve the methods o f towing marine objects. Model solutions have been made for the project 214 RN tanker (in ballast) based on a previously calculated mathematical model. The primary problem is to solve a system of four first-order differential nonlinear equations; in this case the law o f cable tension control is simply proportional. With the complication o f the control law to the proportional-differential (PD), it was necessary to expand the system o f differential equations to the seventh order; the initial system o f the fourth order is supplemented by three equations for the derivatives o f the kinematic variables o f the problem. During the selection o f methods for controlling the towline tension, the criterial characteristic o f the control quality has been used and the mean square characteristic o f the angular deviation o f the towline from the PD o f the towed tanker has been selected. Key words: towing, mathematical modeling, cable tension control, PD control law, quality criterion. 586