Method of Synthesis of Automatic Correction Systems of Underwater Vehicles Linear Displacements
Abstract In this work the synthesis method of system of automatic correction of underwater vehicle linear displacements is described. Arbitrary non-zero values of underwater vehicles angles of roll and trim arise under the influence of external forces and torques. Proposed system automatically changes corresponding thrusters thrusts depending on current values of said angles. It provides high-accuracy underwater vehicle moving in given direction. Besides, developed system allows to eliminate underwater vehicle displacements from given spatial trajectory which caused by vehicle asymmetry and different values of added mass of fluid and viscous friction coefficients when underwater vehicle moves along different degrees of freedom. As result of using of proposed correction, operator can control desired torque vector of underwater vehicle without considering of appearance of arbitrary angles of roll and trim. Results of performed numerical simulations have confirmed high efficiency of functioning of synthesized system.