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M
s
i
g
¼
132
:
44
M
sv
¼
95
¼
6
:
97 Nm
ð
13
Þ
20
0
:
M
sv
—
the resistance moment, Nm,
ʷ—
the reducer ef
ciency coef
cient. The torque
which is required to start the engine is (
14
):
J
x
mot
M
¼
M
sv
þ
D
t
¼
11
:
99 Nm
ð
14
Þ
The power of the engine is (
15
):
P
¼ x
mot
M
¼
3011
:
88W
ð
15
Þ
The reserve coef
cient of 1.25 is applied to the engine power PR is calculated as
follows (
16
).
P
R
¼
P
1
:
25
4000W
ð
16
Þ
Therefore, the parameters of the engine are obtained:
Power P = 4000 W;
The maximum speed is 2400 rpm;
Gear box ratio 1:20.
4 The New Software Creation of the Measurement System
The designed motion measuring system prototype consists of a laptop, controller
and some sensors. Accelerometers and gyroscopes that are used in the system make
the appropriate measurements, calculate the difference in the motion of towing
vessel and sonar. Sensors are connected to the Arduino Duemilanove controller.
This controller performs collects data. We used paired sensors in the prototype. Pair
consists of accelerometer and gyroscope. Both sensors are mounted on the same
chip. The developed system data reliability is estimated as high, because the angles
between the sensors axis are
fixed. Due to the low number of the connecting wires,
this system is more compact and easier to use than the conventional systems with
one-sensor-per-chip. For capturing vessel motions the sensor unit is mounted to the
vessel (Fig.
5
).
The main system works with the SerialChart and Arduino 1.0 software. Such
interconnection between SerialChart and the Arduino
s functions of data scanning
allows not only to see the digital values of sensors in real time, but also depict data
in real time with updated diagrams. The maximum operating frequency of the
accelerometer ADXL 345 is 200 Hz, ITG-3200
'
400 Hz. System sensors fre-
quency can be up to 150 Hz only if just accelerometers are connected. If the
—
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