ОСОБЛИВОСТІ КЕРУВАННЯ СТАБІЛІЗОВАНИМ РУХОМ АВТОНОМНИМ НЕНАСЕЛЕНИМ ПІДВОДНИМ АНПАРАТОМ В УМОВАХ ДІЇ ЗОВНІШНІХ ЗБУРЕНЬ
Journal Title: Інформаційні системи, механіка та керування - Year 2018, Vol 0, Issue 19
Abstract
The perfection of the mathematical model of AUV motion in the horizontal plane is presented. In order to study the change in the hydrodynamic characteristics of AUV, a simulation of its motion in the MATLAB Simulink system was performed. The analysis of the basic typical modes of movement of the AUV has revealed that during the execution of the mission, the propulsion and steering complex of the apparatus functions in a beveled stream of water flowing. During the research, it was found that the propeller stroke has a nonlinear dependence on the angle of flow of water, as well as on the speed of the AUV. The developed mathematical model gives the opportunity to specify the necessary parameters for the development of high-quality automatic control systems AUV.
Authors and Affiliations
В. С. Блінцов, Г. С. Грудініна
Keywords
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