Analysis and synthesis of dual mode control systems of a tethered descent undersea vehicle

Analysis and synthesis of dual mode control systems of a tethered descent undersea vehicle

Bibliographic Details
Parent link:	OCEANS 2016 - Shanghai: Proceedings of Conference, Shanghai, 10-13 April 2016. [8 p.].— , 2016
Main Author:	Gaivoronsky (Gayvoronsky) S. A. Sergey Anatolievich
Corporate Author:	Национальный исследовательский Томский политехнический университет (ТПУ) Институт кибернетики (ИК) Кафедра автоматики и компьютерных систем (АИКС)
Other Authors:	Ezangina T. A. Tatiana Aleksandrovna, Khozhaev I. V. Ivan Valerievich
Summary:	Title screen The structure of a dual -mode robust control system of a descent underwater vehicle connected by a cable-rope with a carrier-ship was developed on the basis of a multimode control. This system is intended for oscillation damping of a descent underwater vehicle under the conditions of sea disturbance. We obtained the models of control systems of a descent underwater vehicle for its lowering-lifting and attitude stabilization mode. These models take into account interval data, distribution and nonlinearity of the parameters of the link «cable-underwater vehicle». System stimulation of a dual-mode robust control system of a descent underwater vehicle with a synthesized PI controller was carried out. Режим доступа: по договору с организацией-держателем ресурса
Published:	2016
Subjects:	электронный ресурс труды учёных ТПУ подводные аппараты лебедки судоподъемники системы управления
Online Access:	http://dx.doi.org/10.1109/OCEANSAP.2016.7485341
Format:	Electronic Book Chapter
KOHA link:	https://koha.lib.tpu.ru/cgi-bin/koha/opac-detail.pl?biblionumber=652420

Internet

http://dx.doi.org/10.1109/OCEANSAP.2016.7485341