СИНТЕЗ СИСТЕМИ АВТОМАТИЧНОГО КЕРУВАННЯ ВЕРТИКАЛЬНИМ РУХОМ ТЕЛЕКЕРОВАНОГО ПІДВОДНОГО АПАРАТА В УМОВАХ НЕВИЗНАЧЕНОСТІ
Journal Title: Інформаційні системи, механіка та керування - Year 2018, Vol 0, Issue 19
Abstract
The automated control system synthesis of vertical motion of a remotely operated underwater vehicle is considered in the paper. To control the motion of the vehicle the law based on local functional minimization method that provides high dynamic precision of the system in uncertainty conditions is used. The analysis of the depth regulator transitional modes detected the presence of overshoot which significantly increases response time. The overshoot is caused by the delayed exit of the system from saturation mode. The intensity setter based on a linear dynamic link of the second order and an inverse regulator is proposed. To provide high precision the bounds of plant dynamics have been incorporated in the control law of the intensity setter. The exit of control system from saturation mode is provided by the correction of the intensity setter dynamics. The addition of the intensity setter linked serially with the depth regulator to the system provides the response time decrease without affecting the control system accuracy. In order to examine the effectiveness of the synthesized automatic control system the computer simulation of the vertical motion of a remotely operated underwater vehicle is performed. The results of computer experiment demonstrated high system accuracy.
Authors and Affiliations
О. В. Блінцов, В. І. Корицький
Keywords
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