| 摘要 |
The invention relates to the field of shipbuilding, and is intended for underwater vehicles. An automatic control system of motion of an underwater vehicle in a horizontal plane comprises a setter of input signal, a sensor of linear speed of an underwater vehicle, a rotation velocity sensor of propeller, a rotation velocity sensor of left propeller, a channel of actuator that combines in-series connected power converter, a motor, a left propeller and an underwater vehicle as an object of control. It also comprises an angular velocity sensor, a rotation velocity sensor of the right propeller, a calculator of control signal for both channels. Two approximators are equipped with programs based on artificial neural networks for approximation of independent increments of linear and angular velocities and accelerations of the motion of vehicles on its current condition and sum and difference of the screw supports on the basis of pre-existing data. Technical effect: ability of simultaneous control of linear and rotational motion of underwater vehicle in a horizontal plane, as well as providing the possibility of synthesis of a control system under conditions of uncertainty of the parameters of the mathematical model of an object. |
