The stabilization interval system of a tethered descent underwater vehicle

International Conference on Mechanical Engineering, Automation and Control Systems 2015

机械制造;无线电电子学;计算机科学

Gayvoronskiy, S.A.^1 ; Ezangina, T.^1 ; Khozhaev, I.^1 ; Efimov, S.V.^1

Department of Automatics and Computer Systems, Tomsk Polytechnic University, 30, Lenina ave., Tomsk

634050, Russia^1

关键词: Coefficient methods;    Digital simulation;    Dynamic property;    Interval systems;    Parametric synthesis;    Proportional plus integrals;    Underwater vehicles;    Vertical oscillations;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/124/1/012008/pdf
DOI  :  10.1088/1757-899X/124/1/012008

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

To damp the vertical oscillations of a descent submersible caused by dusting the control system utilizing a shock-absorbing hoist located on the submersible was developed. A robust proportional-plus-integral action controller was included in the control loop to ensure acceptable dynamic properties of the system by interval variations of the module mass, the rope length, the equivalent value of stiffness of a spring linkage and the equivalent value of damping factor of the spring linkage. A parametric synthesis of the controller was carried out on the basis of the robust expansion of the coefficient method of the quality rating estimation. The system operability was confirmed by the results of the digital simulation parameters.