Investigation of Sonar Stabilisation Method for Improved Seafloor Image Quality - Geoinformatics for Intelligent Transportation - page 8

connecting ship and sonar is wrapped around the drum, whose maximum angular
velocity ω is calculated according to this formula described by [ 14 ]:

v
r b ¼

2

33 1
s

x ¼

15 ¼

13 : ð 5 Þ

:

0

x— radius of the cable drum, m. The rpm

of the drum is calculated according to this formula:

the cable drum angular velocity, 1/s, r b

30 x
p

n ¼ ¼ 127 : 36 aps = min ð 6 Þ

The moment of the inertia of the load:

¼ 90 ¼ 2 : 02 kgm 2 J m ¼ m v 2

2 2
13

max
x

: ð 7 Þ

2

: 33 2

The coef cient of reduction for cable drum is described ( 8 ):

n mo n

i ¼ 20 ð 8 Þ

i — the reduction coef cient, n mot — the cable drum motor rpm. The torque that is

needed to lift the weight ( 9 ):

M s ¼ mgr ¼ 90 9 : 81 0 : 15 ¼ 132 : 44Nm ð 9 Þ

M s — the system torque, Nm. The angular velocity of the engine rotor:

n mot p
30 ¼

2400 p
30 ¼

2 1
s

x mot ¼ 251 : ð 10 Þ

x mot — angular velocity of cable drum motor, 1/s. The engine reach the maximum

speed during the time period D t 5 s. We assumed that the moment of the engine

inertia is equal to the reduced moment of the inertia of the load is described as:

¼ 0 :

J i 2 ¼ 0 : 01 kgm 2

J ¼ J mot þ ð 11 Þ

the motor inertia moment, kgm 2 , The general moment of inertia of the motor
rotor is ( 12 ):

J mot —

J i 2 ¼

01 kgm 2 J ¼ J mot þ 0 : ð 12 Þ

Resistance to the axis of the engine torque presented as ( 12 ):