SU410250A1 - - Google Patents

Description

one

The proposed device is designed to generate the current heading angle per trawl. It can be installed on any fishing vessel using a depth trawl for fishing.

A device for indicating the position of a trawl is known, which contains tracking systems for the vessel's heading and drift angle and a sensor for the position of the trawl. This device does not allow to determine the position of the trawl relative to the vessel in the horizontal plane. Knowledge of the heading angle per trawl is necessary for aiming trawling when a depth trawl is used. If skid and trawl movements are not taken into account, a large number of empty hauls are performed.

A device is proposed for indicating the position of a trawl relative to a ship in a horizontal plane, characterized in that, in order to broaden the scope of application and improve the accuracy of indication, it contains an integral drive connected to one of its inputs an amplifier whose input is connected to the output of a sensor of a position of a trawl angle Werov, the output of which is connected to another input of the integral drive, two adders. One of the inputs of the first adder is connected to the output of the vessel's heading track system, the other input is connected to the output of the integral drive. One of the inputs of the second adder is connected to the output of a tracking system of the drift angle, the output to the input of a trawl angle sensor. In addition, the device includes a sensor for the current course angle of the trawl, the output of which is connected to the output of the device, and the input is connected to another input of the second adder and the output of the first adder to which the current course angle indicator is connected.

Movement of a trawl with sufficient accuracy for practical purposes can be an equation

 (f - o) - f sin qdi O,

(one)

where / is the horizontal projection of the warp length;

V - vessel speed;

(o is the initial course angle per trawl; q is the current course angle per trawl; / is the time from the beginning of the maneuver.

Since the initial heading angle to the trawl can be caused either by a change in the ship's heading or by a change in the angle of drift (even at a constant course), it is necessary to take into account both factors in the calculation. If a change in the drift angle leads j to a new equilibrium position of the trawl q, then the change in course over time is completely eliminated. It should be noted that when setting the initial course angle on the trawl 170, the residual trawl’s non-return angle to the equilibrium position from the previous maneuver must be taken into account. Thus, in order to generate the current course angle per trawl q, it is necessary to continuously integrate input information from the lag, compass and drift meter by formula (1). For this, the integrator and the trawl angle sensor are included in a closed circuit, into which information about the change in course, drift angle and vessel speed is entered through summing elements in a defined sequence. The drawing shows a block diagram of the proposed device for indicating the position of a trawl relative to a vessel. The integrator is an iptegdrive with shimmery; excitation of a tachogenerator consisting of asynchronous motors on tachogenerator 1, amplifier 2, sensor 3 horizontal lengths of warmers, a scale-up transformer 4 and a phasing-compensating device 5. As the sensor 6 of the trawling angle of a trawl, a sine-cosine rotary transformer with voltage excitation from lag is used proportional to the speed of the vessel. The adders 7, 8 are the mechanical differentials. Track heading and drift angle systems include sensors 9 and 10, amplifiers 11 and 12, and motors 13 and 14, respectively. In the input line of the rate of change course D / (coupling 15 is inserted. Linear rotary transformer 16 and sensor of the current course angle of the trawl (bluetooth rotary transformer) 17 are inserted into the circuit to provide data on the position of the trawl to the automation systems or to a visual indicator of the type of an electrophome tube. of the instrument are produced by the indicator chambers: the 18 horizontal length gauge of the warp /; the school 19 current course angle on the trawl q; the drift angle school 20 and the skewer 21 of the equilibrium course angle per trawl q. as follows: When the electromagnet device is turned on, the brake clutch 15 shuts off the kinematic D / S input line, and the following heading and drift angle systems coordinate their sensors with compass and drift meter readings. After a sufficient time has passed, the trawl is installed, but the ship’s track lines the drift angles), and the readings of the pins 19 and 21. After that, through the button 22, the clutch 15 is disconnected and kinematically closes the D / S input line. The manual input knob enters the value of the horizontal length of the warp /. The device is ready for operation. When the drift angle changes, the value of the equilibrium course angle q is reflected, which is reflected on the slit 21. However, it takes a certain time to arrive at the trawl to this position, therefore the slits 21 are kept reading. The new value of the drift angle through the adder 8 will arrive at the turn of the sensor b of the angle of the position of the trawl fed by a voltage proportional to v. From the sinus winding of this sensor, a signal proportional to vsm (qocT - {- gDa) will be compared with the voltage generated by the tachogenerator 1 of the integral drive. The rotational speed of the integral drive motor is set with equal comparisons, and since the excitation of the tachogenerator is proportional to /, the rotational speed of the motor will be dU V, I,. -: for 8sh (+ Yes). For a certain period of time, the angle of rotation of the shaft of the anti-drive unit by the formula / g 1 - sin ((} + Yes) dt. This angle is algebraically added to the turning angle of the reference angle of the course angle, and the display q approaches the value of q. When the rotor turns 6 through the adder 8 at an angle - Yes, the system will take a new equilibrium position, at which the sigal from the sine winding of sensor 6 will be equal to 0. When maneuvering the vessel, the angle of course change through the adder 7 enters the reference angle of the heading angle and changes the readings 19. As a result, through the adder 8, the rotor of the sensor 6 is rotated by an angle (OC-D). A voltage proportional to u, m (q-Д / С) is fed to the input of the integral drive through the sine winding of the integrator 6. During the time t, the angle of rotation of the integral drive shaft will be: t () dt. (4) o Through the adder 7, a signal proportional to this angle will go to the reference angle of the heading angle and change the readings on the screen 19, bringing it closer to the reading on the screen 21, which remains unchanged. Through the adder 8, a signal proportional to the angle n will return the rotor of the sensor 6 to its original position. The system will come to equilibrium when a bullet signal arrives from the sushus winding of the sensor 6, which indicates the return of the rotor of the sensor 6 to its previous position (turn from the integral drive through the angle D / C). If the new maneuver is carried out before the end of the full adjustment by the integral actuator of the previous change, the course residual

the angle will be present both in the reference line and in the turn of the rotor of the sensor 6 of the position angle of the trawl. Thus, the readings of the q scale at any time point correspond to the position of the trawl relative to the vessel (its diametrical plane), i.e. the device intercepts the current heading angle to the trawl.

Subject invention

A device for indicating the position of the trawl relative to the vessel in the horizontal plane, comprising following tracking systems of the vessel and the drift angle and the sensor of the position of the trawl, characterized in that, in order to expand the field of application and increase

ACCURACY indication, it contains an integral drive, an amplifier connected to one of its inputs, the input of which is connected to the output of the angle sensor of the trawl position, a horizontal sensor of the warp length, the output of which is connected to another input of the integrated drive, two adders; one of the inputs of the first adder is connected to the output of the vessel's heading track system, the other input is connected to the output of the integral drive; one of the inputs of the second adder

0 is connected to the output of the tracking system of the drift angle, the output is connected to the input of the angle sensor of the trawl, and the sensor of the current course angle of the trawl, the output of which is connected to the output of the device, and the input to another input of the second adder and the output of the first adder to which the indicator is connected current course angle.

AND