A comprehensive solution to the problem of improving automation systems, which is associated with improving the accuracy, reliability and performance of the ship control system, with its sustainability on course, is becoming increasingly important in the face of the impact of the perturbations on it, causing a change in its course. One of the ways to solve the problem of ship’s stabilization of the course is associated with the application of a dynamic model of the vessel, elements of which are discrete PID-regulators, allowing by variation of sampling intervals and their number to carry out the selection of the required parameters of the author’s complexes, ensuring the stability of the vessel on the course. Converting the traditional PID regulator into a discrete regulator in dynamic ship systems based on bilinear w-transformation using functional modeling tools in the MATLAB environment is considered in the paper. The example of the ship’s course stabilization system shows the algorithm of the synthesis of discrete regulator in the MATLAB environment and builds a generalized SIMULINK model to compare the dynamics of the processes of the ship dynamic system with continuous and digital regulators in the temporal area. The results of the simulation of the ship dynamic system show the asymptomatic convergence of the transition processes of the angular coordinates of the ship’s condition at the interval of time, equal to the duration of the transition process in the system. It is shown that using SIMULINK and CONTROL TOOLBOX tools can improve the process of modeling discrete-dynamic systems at a qualitatively new level and significantly improve the efficiency of system synthesis.

Most of the calculations that have to be performed when solving navigational tasks are approximate, because of the assumptions that are made in this case, as well as approximate values of the quantities that are used in the calculations. Algorithms for practical calculations to take into account the disturbances influence on the maneuvering process are not available for all types of disturbances. The result of the wind action on the ship is difficult to determine exactly. With a weak headwind, the ship loses little speed, and slightly increases it when such a wind is from the stern. With a strong wind, the ship’s course decreases both with a headwind and with a tailwind. The reason for this is the wave action, which develops with the wind and increases the resistance to the ship movement. The issue of studying the wind influence on the ship seaworthiness is considered and the task of creating a model for taking into account the ship behavior when observing its drift without running is set in the paper. At solving this problem, the methods of ship theory (for analyzing the dynamics and kinematics of the ship), mathematical modeling, the theory of static analysis and full-scale experiment are used. During the full-scale experiment, the vessel behavior when mooring to it during catching process from a purse seine is considered, and observations of drift without running on a medium fishing freezer trawler during fishing with the purse seine in the Black Sea are also made. The performed studies allow us to obtain data for determining the speed and angle of drift when planning a mooring for receiving a catch in the case of steady drift. This allows us to determine the value of the ratio of dimensionless coefficients of transverse aero and hydrodynamic forces for the case of steady drift.

The requirements for the priority transport development, as one of the forces of the society development are substantiated in the paper. The requirements for modern transport systems as to the next stage of the production process, as well as for the source of competitive advantage in terms of price and service, are formulated. The reasons for containerization occurrence are considered in the paper. Special attention is paid to the containers standardization as reusable means, the stages of standardization are given, the role of the Russian Federation in the development of containerization and new types of containers is determined. A modern classification of the types of existing containers is presented. The stages of the container fleet development for the entire period of its existence are indicated, the patterns of the fleet development are revealed. The development of the container fleet took place in several stages and was aimed, on the one hand, at increasing the capacity of ships in order to implement the principle of “economies of scale”, that is, reducing the cost of transporting one container, and on the other hand, at increasing the speed of ships movement and the speed of handling ships in the port by using a cellular system for placing containers to reduce the delivery time of goods. The principles of the integrated development of containerization as a modern global transport system are revealed and formulated, its role in the integrated delivery of goods is shown. It is noted that the initial development of containerization in maritime transport influenced the development of other modes of transport, and this led to new forms of their interaction, to the formation of a continuous transport chain, including “land bridges” and main feeder container delivery systems. It is substantiated in the paper that containerization has become the next step in the development of transport systems, bringing society closer to the system of ideal delivery of goods, which means the implementation of a combination of the following factors: the time and cost of delivery should be minimal and ideally tend to zero, delivery of goods should be carried out in any consignments, constant availability.

A practical method for assessing and restoring (building up) the initial stability of a vessel in conditions of incomplete information about the loaded cargo has been proposed. This method is based on the procedure of sequential filling with liquid ballast of two low-lying and symmetrical tanks relative to the center plane of the vessel. At the same time, the selection of the tanks size (the amount of ballast received) is carried out on the basis of the conditions of guaranteed non-capsizing of the vessel, on the one hand, and increasing its initial stability, on the other. Before starting ballasting, as well as after filling each of the selected tanks, it has been proposed to measure the draft and heel angle of the vessel, as well as to quantify the upper and lower limits (range) of possible values of the metacentric height and the corresponding values of the heel angle of the vessel. At the same time, at the beginning (before ballasting), the lower limit of the metacentric height is determined from the condition that the ship’s heel is caused by the ship’s negative initial stability. Using the simple logical rules formulated in the paper, it has been proposed to compare the actual and calculated values of the ship’s heel angles during ballasting, and then make a decision on the value of its actual initial stability. The necessary calculation formulas that make it possible to practically implement the proposed method, both when choosing the size (volume) of ballast tanks, and when calculating the ranges of possible values of the ship’s heel angles and its initial metacentric height are provided in the paper. For a ship of a typical design, a numerical example of the implementation of the method has been given. It, among other things, has shown that the accuracy of assessing the initial stability of a ship based on the results of ballasting depends significantly on the volume of the selected tanks: the larger this volume, the more accurate and sensitive the proposed method.

The issue of introducing a quality criterion by the port to ensure competitiveness in the market of loading and unloading services is considered in the paper. It is noted that the quality criteria can be provided if the characteristics of the port handling equipment correspond to the calculated data on performance and reliability. It is emphasized that the formation of a fleet of port handling equipment (optimization), which is necessary after identifying “weak” points in the operation process, is a key task of port management. Cargo turnover, cost of technological processes, port capacity and warehouse capacity depend on the port handling equipment (various technological schemes of port operation depend on the equipment). In order to determine the economic effect of the introduction of new technological solutions or technical re-equipment, expressed in complete or partial replacement of the port handling equipment fleet, not only the costs of purchasing new equipment, the costs associated with changing the loading and unloading technology, but also the operating costs of maintaining the port handling equipment in working order are taken into account. The choice of port handling equipment is a task on which the economic performance of the port depends. To select the port reloading equipment, a model of the operation of the technological line, built on the basis of the Petri net apparatus, is considered. This model formalizes the process of functioning the technological line and models logical connections between events. The model of functioning the port technological line considers solutions to conflict situations, the analysis of which shows that they are related to the technical condition of the port handling equipment fleet, its performance and technical conditions. It is concluded that the combination of solutions to conflict situations affects the economic efficiency of the port. The obtained simulation data are taken into account when selecting the port handling equipment. Based on the obtained performance data of port cargo handling equipment fleet, the annual cargo turnover of the port is planned and the main characteristics of the service quality (speed of vehicle service, average waiting time of vehicle service) are identified.

Ship data recognition leans on intelligent analytics based on machine learning algorithms. Deep neural network is an advancement in machine learning and a powerful tool for realizing ship autonomy. Deep learning or deep neural network methodologies are used in the various areas of the maritime industry, such as detecting anomalous situations, classifying ships by features and parameters, preventing ship collisions, detecting cyberattack risks, and navigating ports. The various methods of data recognition in shipping are discussed in the paper. Machine learning and artificial intelligence are two of the most promising ways to improve transportation efficiency. Machine learning in transport can be used to provide voice commands, autonomous operation, technical vision and similar tasks allowing to perform autonomous or remotely controlled ship operation. The ability to make the right decisions, process large amounts of data are some of the key challenges for the successful implementation of autonomous ship control. Despite the existing variety of machine learning methods, most traditional machine learning methods fail to solve these problems. In this paper, the traditional methods are classified into classical and reactive. Each of these methods has both advantages and disadvantages. The deep neural network is believed to shape the future of the maritime industry through its ability to use data on the operation and performance of ships.

Container transportation system, started its development in the middle of the last century as one of sea transport technology, is now the only alternative of global cargo transportation. This system today is spread on sea and land transportation systems. It is used in the global transportation as far as in the local goods movement. The main instrument for design and activity analysis of container transportation systems is simulation modelling. At the same time, it is pointed in the paper that used container terminal simulation model considers only technological operations. However, the influence of simultaneously implemented operations which require the same pool of technological equipment is not considered in these models as far as the effect of information delays. Though, these factors could greatly influence requirements for terminals resources. It is proved in the paper that this problem can be solved by application of container terminal simulation models based on business processes. The technological operations, which are usually researched in the traditional models of container terminal, are considered from the business process simulation point of view. It is also pointed that this approach gives the number of certain advantages. The method of container terminal simulation modelling based on the business processes allows you to evaluate the necessary number of terminals resources and analyze the particular business processes.

This paper is devoted to the design problems and issues of estimating the bearing capacity of planetary reduction gear units, based on the study of basic circuit-design solutions of European manufacturers using high-hard external gearing and involute internal gearing that implements the convex-concave contact, and the experimental data, which are reflected in the regulatory documents of the basic standards of the Russian Federation. Due to the variety of factors limiting the weight and dimensions of the gearbox, there is the question of the possibility of solving this problem for this type of construction under subordinating with a certain degree of probability to single strength factor, which would significantly simplify the design of the main bearing units and comparative evaluation of gearboxes performed at using the various design solutions. Taking into account the operating practice, the main units that determine the initial dimensions of the gearbox of the studied type are the gearing and rolling bearings of satellites.The proposed method provides a differentiated evaluation of the various factors that compares the contact endurance precluding premature structure failure due to fatigue chipping of teeth of the external and internal gearing with flexural endurance eliminating premature structure failure due to fatigue failure of the teeth of the sun wheels and satellites, and ensuring the durability of the satellites bearings by the method of equivalent cycles. To conduct a comparative assessment taking into account the loading mode, in combination with a given resource based on the model laws of load distribution, which have found application in domestic crane construction, the method of nodal points is proposed. Based on the conducted research, it has been shown that in the entire rational range of changes in the design parameter, both at a constant and variable load of the assigned mode and resource, the equal strength of gearing of the gearbox gears is determined by the contact endurance of the external gearing. It is assumed that the endurance curve has two inclined sections with parameters defined by the normative documents. Graphs and formula that allows you to assign a steel grade and type of thermal or chemical-thermal treatment of a wheel with internal teeth with an assessment of the impact of the resource and operating mode of the crane mechanism are proposed. The solution of the condition for the bending strength of the teeth is presented by the formula and table, which determine the maximum number of gear teeth, taking into account the displacement coefficient, resource and operating mode. It has been shown that from the point of view of resource indicators the bearing unit of the satellite is the most vulnerable element only in a narrow range (from two to three) of the numerical values of the design parameter of the gear stage. The performed comparative analysis of the stress state of the main units and the obtained numerical results has showed the practical acceptability of using a planetary gearbox of the studied type of fatigue contact endurance of a high-hardness external gearing as a form-forming factor. An indicator for the comparative assessment of gearboxes made according to the various circuit-design solutions, which depends only on the values of the internal gear ratio of the gearbox stages and torque and allows you to reduce the number of options permitted for detailed study at the stage of new design, is proposed.

The largest amount of zoo- and phytoplankton, fish eggs and fish fry inhabit the upper sea layers, usually the shelf area. Therefore, the influence of ship’s cooling system on the marine biodiversity is considered. The intake of cooling sea water by ships and other marine technical objects occurs at a depth of about 10 m, the area where a great number of fish fry and fish eggs is concentrated. Thus, it has been shown that the plankton that gets to the cooling system during the intake of cooling sea water dies. An open-loop cooling system sucks in with outboard water these organisms, which, passing through filters, pipelines, fittings, etc., mostly perish under the mechanical and thermal influence. Existing filters and fish protection devices do not prevent this extermination; as a result, the biological productivity of seas decreases. In the paper the ways of solving this problem are proposed. The issues related to the implementation of the closed-loop cooling systems for power plants of the marine technical installations operating without consumption of outboard cooling water are considered. The implementation of such systems ensures high reliability and environmentally safe operation. Based on the results of the research, the examples of practical implementation of such systems are given. The issue related to the use of gas-liquid intensification of heat removal from sea water for closed-loop cooling systems of ship power plants is considered.

An algorithm that allows you to control the electromagnetic torque of an induction motor with a maximum power factor is described in the paper. The problem of maximizing the power factor at a given value of the electromagnetic torque is solved using the method of indefinite Lagrange multipliers. The basis for the construction of the control algorithm is a modified vector control, which has a direct-axis current control loop and a quadrature-axis current control loop. An algorithm for the setting actions formation for the control loops of direct-axis and quadrature-axis currents, taking into account the saturation of the magnetic circuit of the induction motor, as well as the limitation on the relative value of the stator current modulus, is determined. The dependences of the setting actions for the control loops of direct-axis and quadrature-axis the currents, as well as the power factor on the electromagnetic torque are found. Computer simulation of the proposed control algorithm has been carried out, as a result of which graphs of transient processes and the dependences of the power factor on the electromagnetic torque, which verify the theoretical calculations, are obtained. Maximizing the power factor improves the energy efficiency of controlling the induction motor and electric drive in general. The presented control algorithm contributes to reduce losses not only in the asynchronous motor, but also in the power electrical part, including the electronic key converter. The proposed control algorithm can be applied to the control systems that contain control loops for direct-axis and quadrature-axis currents. The operation of the asynchronous motor with the maximum power factor contributes to following the global trends in reducing resource consumption and energy efficiency. The energy-efficient drive meets the requirements that apply to drives of the various ships and objects of the sea and river transport.

The issues of the target function formation when solving parametric optimization problems in relation to the automated electric drives of water transport objects. The complexity of solving the problem is due to its multi-criteria nature and the lack of reasonable methods for solving it for ship and shore electric drives. It is shown that at the stage of parametric synthesis, the controlled parameters of the main elements of the electric drive are optimized. At the same time, in the case of setting up the electric drive, such parameters are the gain coefficients and time constants of its control system. The analysis shows that quite often one most important quality indicator, which characterizes the speed of the electric drive, is chosen as the target function. It is shown that in recent years, other indicators that characterize accuracy, energy costs, and parametric reliability are also introduced into consideration. It is noted that the most important indicator that fully characterizes the probability of trouble-free operation of the electric drive is the reserve of efficiency. Three strategies for the formation of the target function are considered. The first of them involves the search for the optimum by the criterion of maximizing the minimum margin of efficiency. This approach is recommended for responsible electric drives. A distinctive feature of the proposed algorithm for solving the problem is the use of a priori information about the change rates of the controlled parameters. The second strategy involves the option of constructing the objective function, which is provided by a given working capacity stock, and the search for optimum is carried out according to the generalized criterion that takes into account the performance and energy efficiency and is based on the principle of equality. The third strategy involves the formation of the target function by way of an additive form as a generalized indicator of the economic efficiency of the electric drive, built on the basis of all considered quality indicators. At the same time, functional dependencies are established between this indicator and each quality indicator. This allows you to write the desired dependency in the form of an additive function. The algorithms for solving the problem in relation to the first strategy, which are illustrated by specific examples, are considered in the paper.

The experience of deep modernization of the unified electric power system and the electric propulsion system of the “Kapitan Kosolapov” diesel-electric icebreaker is considered in the paper. During the modernization, a technical design is developed, necessary electrical calculations, including using computer models, are performed. Development of the technical design gives an opportunity to determine the list of replaced equipment and its technical characteristics, to justify the scope of modernization. During the modernization, the main diesel-generator, controlled rectifiers of the armature circuit of the electric propulsion motor, reversible controlled rectifiers are replaced. A microprocessor control system for an electrical propulsion plant has been developed. An integrated control system for the technical means of the vessel is introduced. Dock, sea and ice trials of the unified electric power system and electric propulsion system are carried out. When testing the unified electric power system, the quality of electricity in the ship network, the stability of the autonomous and parallel operation of diesel-generators, the distribution of active and reactive loads are checked. When testing the electric propulsion system, the transient processes of acceleration, deceleration and reverse of the propulsion electric motor are oscillographied. The time of transient processes of the electric propulsion plant is measured. Successful tests make it possible to continue the exploitation of the “Kapitan Kosolapov” diesel-electric icebreaker.

The problem of the quality of ship electrical energy is raised in the paper. The main reasons for the low quality of electric energy compared to the quality of power supply for onshore power systems are described. Along with the main problem of quality, the issue of possible integration of alternative sources of electric energy in the future is considered. To maintain the necessary parameters of the quality of electricity generated by the alternative energy sources, such as capacitive (ionistors. supercapacitors), it is proposed to apply integrated stabilizer schemes. A schematic diagram of a booster stabilizer based on flint keys is proposed and considered. The principle of output voltage stabilization using semiconductor switches (a bipolar transistor, a field-effect transistor, and a bipolar transistor with an isolated gate) is described. A schematic diagram of the operation of a booster voltage stabilizer from a capacitive source of electrical energy is proposed on the example of an ionistor. Based on the basic laws of electrical engineering, a mathematical model of an electric power source and a voltage stabilizer based on which the variables on which the level of voltage stabilization depends are determined has been developed. Based on the mathematical model of the stabilizer and the capacitive source, a simulation model is developed and studied in the MATLAB computer simulation environment. A positive effect is revealed in the application of the basic electrical circuit of an integrated voltage stabilizer from a capacitive source. To verify the conducted model studies based on the proposed circuit diagram, mock-up tests are performed. The results of computer simulation are compared with the results of the output parameters of mock-up tests, and the feasibility of using the proposed circuit solutions is proved. Based on the research conducted on a computer and a real model, a number of main conclusions are made.