| 摘要 |
FIELD: transport. ^ SUBSTANCE: invention relates to submarine apparatus movement control devices. Suggested device is intended to provide straight-line spatial movement of submarine apparatus to detected object both in automatic and manual control modes at maximum speed considering possible saturations of this apparatus propellers. The device includes the following: telecamera, angle encoders of telecamera, command sensor, sources of reference signal, threshold elements, multipliers, dividers, NO and OR logic gates, sine and cosine functional converters, adders, switches, amplifiers, modulus taking units. ^ EFFECT: providing automatic selection of maximum possible control signal at which no saturation yet occur in any of propellers. ^ 1 dwg |
