| 摘要 |
robotics, namely systems for controlling propellers of submerged robots. SUBSTANCE: apparatus includes three adders, inlets of two of those adders are connected with setters; connected in series: first multiplier, first adder, amplifier and motor connected directly to speed pickup; divider and first unit for calculating modulus. Outlet of second adder is connected with first inlet of divider; its second inlet is connected with outlet of first multiplier. Outlet of speed pickup is connected with first inlet of first multiplier, with inlet of first unit for calculating modulus and with second inlet of first adder. Outlet of first unit for calculating modulus is connected with second inlet of first multiplier and with second inlet of third adder whose outlet is connected with second inlet of divider. Outlet of second divider is connected with third inlet of first adder. Apparatus includes in addition connected in series: forth adder, integrator, fifth adder, relay unit and second multiplier whose outlet is connected with third inlet of second adder; connected in series: third multiplier and sixth adder whose outlet is connected with second inlet of second multiplier and whose second inlet is connected through second unit for calculating modulus with outlet of fourth adder. First inlet of fourth adder is connected with outlet of first setter; second inlet of fourth adder is connected with outlet of integrator. First inlet of third multiplier is connected with outlet of speed pickup. Second inlet of third multiplier and second inlet of fifth adder are connected with outlet of first multiplier. EFFECT: enhanced dynamic properties and quality factors of control system at condition of significant influence of viscous environment upon apparatus and at change of object parameters in wide range. 1 dwg
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