Method of Synthesis of Automatic Correction Systems of the Linear Displacements of the Underwater Vehicles

This work describes the synthesis method for the system of automatic correction of linear displacements of the underwater vehicles. Often in the process of movement of an underwater vehicle the angles of roll and trim appear under the influence of torque impacts by grasped cargo, underwater cable, vehicle asymmetry and other perturbing factors. In some cases it is impossible to compensate for the unwanted angular underwater vehicle displacements with the help of thrust created by its propulsors. Uncontrollable changes in the spatial orientation of an underwater vehicle misroute it from the given direction. As a result, there is a problem of an accurate vehicle movement in a given direction even, notwithstanding the uncontrollable angles of roll and trim. In presence of the external forces and torques of the arbitrary non-zero values of the angles of roll and trim the proposed system automatically changes the corresponding propulsors' thrusts depending on the current values of the said angles. It ensures a high-accuracy underwater vehicle movement in a direction. Besides, the developed system allows us to eliminate the underwater vehicle's displacement from a given spatial trajectory, caused by the asymmetry of the vehicle and different values of the added mass of fluid and viscous friction coefficient when the underwater vehicle moves with different degrees of freedom. As result of using the proposed correction, an operator can control the desired torque vector of an underwater vehicle without considering the appearance of the arbitrary roll and trim angles. The results of the performed numerical simulations proved high efficiency of the synthesized complex control system, which has simple practical implementation and does not require installation of additional equipment and navigation systems for the underwater vehicles.

подводный аппарат, система управления, автоматическая коррекция, линейные перемещения, доплеровский лаг, underwater vehicle, control system, automatic correction, linear displacements, Doppler log

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