FORMULATION OF DESIGN TASKS OF TOWED UNDERWATER VEHICLES CREATION FOR SHALLOW WATER AND AUTOMATION OF THEIR MOTION CONTROL

  • Oleksandr Blintsov Admiral Makarov National University of Shipbuilding
  • Volodymyr Sokolov State Enterprise «Production Association «O. M. Makarov Southern Machinebuilding Plant»
  • Pavel Kucenko Admiral Makarov National University of Shipbuilding
Keywords: towed underwater vehicle, automatic control system, rotational motion, integral saturation

Abstract

The towed underwater system is one of the fixed assets of the study of water areas. The effectiveness of its application depends on the characteristics laid at the design stage. The main task of the towed underwater vehicle (TUV) is the motion of technological equipment. Therefore, it is important to ensure the specified dynamic properties of the unit and automate the control of its motion. In the paper the typical forms of the unit are analyzed, the features of their control at small depths are set.

TUV control is carried out in conditions of uncertainty. Therefore, the design of an automatic control system (ACS) for its motion is proposed to be carried out using the appropriate synthesis method – the method of minimizing local functionals.

The control law contains integral components and, under the constraints of control actions, generates the problem of integral saturation. To eliminate the integral saturation in the work, the condition integration method is improved. On its basis, the control law and the structure of the controller of high dynamic accuracy of a second-order nonlinear object are synthesized. It is the basis for the synthesis of ACS controlled degrees of freedom of the underwater vehicle in conditions of uncertainty.

Usually TUVs contain two degrees of mobility. Translational motions of the unit are generated by changing its angular orientation. The paper synthesizes TUV controllers of pitch and roll based on the control law of the second order. Each control signal of the unit can affect both the roll and the pitch of the unit, which leads to decrease in the quality of control in general. To coordinate the work of controllers, a method is proposed, which is based on adjusting the initial conditions of the controller with greater error. On its basis, the automatic control system of the rotational motion of the unit is synthesized. It provides high dynamic precision control of two-dimensional rotational motion of the unit in uncertainty and is the basis for the ACS synthesis of its translational motion in space.

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Author Biographies

Oleksandr Blintsov, Admiral Makarov National University of Shipbuilding

Department of Computer Technologies and Information Security

Volodymyr Sokolov, State Enterprise «Production Association «O. M. Makarov Southern Machinebuilding Plant»

Chief Engineer – First Deputy General Director

Pavel Kucenko, Admiral Makarov National University of Shipbuilding

Research Department

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Published
2019-03-31
How to Cite
Blintsov, O., Sokolov, V., & Kucenko, P. (2019). FORMULATION OF DESIGN TASKS OF TOWED UNDERWATER VEHICLES CREATION FOR SHALLOW WATER AND AUTOMATION OF THEIR MOTION CONTROL. EUREKA: Physics and Engineering, (2), 30-42. https://doi.org/10.21303/2461-4262.2019.00854
Section
Engineering