Vibratory movement of the ship's hull in a resisting medium

Abstract

Currently, one of the main tasks of the oscillatory motion mechanics is the development of effective vibration thrusters for moving mobile robots, which is expected to play a decisive role in the development of robotics in the very near future. This article discusses one of the popular strategies for the implementation of vibration thrusters associated with the movement of the robot in a resisting environment through the use of a movable internal mass. Driven by a special energy source, the mobile internal mass interacts with the body, initiating its movement in the external environment, which leads to a reaction from the environment to the body. By setting special periodic laws of motion of the mobile internal mass, it is possible to regulate the emerging reaction forces of the medium, ensuring movement in the chosen direction. In the article offered to your attention, the vibrational movement of the vessel in a viscous liquid and the vibrational movement of the hull on a rough surface caused by harmonic and non-harmonic laws of vibrations are considered. This article also presents the formulation and solution of the optimal control problem for the ship's engine.