The synthesis of system for automatic formation of underwater vehicle's velocity.(Report)

1. INTRODUCTION

At present the many synthesis methods of high-accuracy control systems (CS) (robust, adaptive, self-adjusted) of underwater vehicle's (UV) movement on difficult spatial trajectories (Antonelli, 2006), (Fossen, 1994), (Filaretov, 2006) is created. These methods allow providing high dynamic accuracy of control. It is possible, if UV's thrusters will be able to simultaneously realize the signal of UV's desirable motion and to compensate interactions between various degrees of freedom. But during UV's movement along sites of trajectories with the big curvature some thrusters can enter into saturation. It can lead to a deviation of the UV from program trajectories.

Thus for fuller use of UV's possibilities it is necessary to change its velocity depending on curvature of a current trajectory site. On sites with the big curvature, the UV can considerably deviate from the desirable trajectory, and we should lower velocity. In this case the interactions between control channels will be decreased and will be decreased the levels of control signals. On rectilinear sites of a trajectory we can increase UV's velocity. In this case interactions between control channels are small.

The basic problem which appears at the decision of this task is variability and uncertainty of UV's parameters at its moving to viscous environment (Antonelli, 2006). Thus in advance to choose a mode of its movement it is possible …